A method implemented by one or more computing devices, the method comprising: determining surface feature points in first point cloud data and surface feature points in second point cloud data, the first point cloud data and the second point cloud data being used for representing different parts of a same object; performing feature matching between the first point cloud data and the second point cloud data to determine surface feature points that satisfy a feature matching condition between the first point cloud data and the second point cloud data, and form a plurality of surface feature point pairs; for one or more surface feature point pairs of the plurality of surface feature point pairs, determining a transformation matrix in which a spatial distance between surface feature points in the surface feature point pairs conform to a proximity condition; and performing coordinate transformation on the one or more surface feature point pairs of the plurality of surface feature point pairs using the transformation matrix to register the first point cloud data with the second point cloud data; wherein, for the one or more surface feature point pairs of the plurality of surface feature point pairs, determining the transformation matrix in which the spatial distance between the surface feature points in the surface feature point pairs conform to the proximity condition comprises: constructing an evaluation model of the one or more surface feature point pairs of the plurality of surface feature point pairs based on a spatial distance and a precision control parameter; iteratively processing the spatial distance using the evaluation model under control of the precision control parameter to remove incorrect surface feature point pairs to obtain effective surface feature point pairs in the surface feature point pairs and to obtain a transformation matrix among the effective surface feature point pairs, and treating the transformation matrix between the effective surface feature point pairs as a transformation matrix in which the spatial distance between surface feature points in the surface feature point pairs conforms to the proximity condition. determining surface feature points in first point cloud data and surface feature points in second point cloud data, the first point cloud data and the second point cloud data being used for representing different parts of a same object; performing feature matching between the first point cloud data and the second point cloud data to determine surface feature points that satisfy a feature matching condition between the first point cloud data and the second point cloud data, and form a plurality of surface feature point pairs; for one or more surface feature point pairs of the plurality of surface feature point pairs, determining a transformation matrix in which a spatial distance between surface feature points in the surface feature point pairs conform to a proximity condition; and performing coordinate transformation on the one or more surface feature point pairs of the plurality of surface feature point pairs using the transformation matrix to register the first point cloud data with the second point cloud data; wherein, for the one or more surface feature point pairs of the plurality of surface feature point pairs, determining the transformation matrix in which the spatial distance between the surface feature points in the surface feature point pairs conform to the proximity condition comprises: constructing an evaluation model of the one or more surface feature point pairs of the plurality of surface feature point pairs based on a spatial distance and a precision control parameter; iteratively processing the spatial distance using the evaluation model under control of the precision control parameter to remove incorrect surface feature point pairs to obtain effective surface feature point pairs in the surface feature point pairs and to obtain a transformation matrix among the effective surface feature point pairs, and treating the transformation matrix between the effective surface feature point pairs as a transformation matrix in which the spatial distance between surface feature points in the surface feature point pairs conforms to the proximity condition. constructing an evaluation model of the one or more surface feature point pairs of the plurality of surface feature point pairs based on a spatial distance and a precision control parameter; iteratively processing the spatial distance using the evaluation model under control of the precision control parameter to remove incorrect surface feature point pairs to obtain effective surface feature point pairs in the surface feature point pairs and to obtain a transformation matrix among the effective surface feature point pairs, and treating the transformation matrix between the effective surface feature point pairs as a transformation matrix in which the spatial distance between surface feature points in the surface feature point pairs conforms to the proximity condition.