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Registration between tactile and visual image for remote-control robot is a critical technology in these two image fusion. The thesis raised a new method of image registration on the basis of OCD-ICP. Making use of graphic fundamentals, the method advanced the four filter rules in image edge curve to get the optimal group progressively. Moreover, the most optical registration references could be gained on the above-obtained point group. Experiment proves the method could detect the correct curve point group, and the ICP with this points group is quite accurate and speedy in registration.