Point cloud splicing has a wide application in the three-dimensional object reconstruction. The scanning equipment may be limited by light, occlusion or object size, so that the scanning equipment cannot obtain all point cloud information of the object from the same angle. The accuracy of traditional ICP is influenced by the initial pose of the cloud with poor robustness. Aiming at this problem, this paper proposes a point cloud stitching algorithm with multi-view cloud data. When the feature points are selected, the coordinate axes are combined with the thresholds to set the search range of a threshold constraint candidate point, and the nearest point set of Euclidean distance is obtained. The point cloud stitching is carried out by ICP algorithm. The experimental results show that the algorithm is superior to the traditional ICP in time consuming, and the splicing accuracy has obvious advantages.