Many algorithms have been put forward for binary image registration. A new algorithm based on point mapping is presented in this paper. The method is robust to find the most matches among point mapping between real-time image and model image. Comparing this algorithm with a fast algorithm b ased on Hausdorff Distance and an algorithm based on cross correlation in time d omain it is proved that this algorithm is the same robust as the other two algor ithms by theory analysis and experiments, but this algorithm is more efficient in computation, and of practical value.