In order to understanding the registration efficiency and registration accuracy of different point cloud registration methods, six different point cloud registration methods (3DSC, PFH, FPFH, NDT, ICP, 4PCS) are selected to perform three-dimentional point cloud data in the coarse registration experiment. The time of point cloud registration and the rotation angle error and translation distance error of point cloud registration on the x, y, and z axis are recorded during the experiment, the registration efficiency and registration accuracy of different point cloud registration methods in the coarse registration experiment are compared by analyzing the data recorded by the experiment. The experimental results show that 3DSC, PFH, and FPFH perform well in the coarse registration experiment, 4PCS has good registration effect but longer time consumption, ICP is not suitable for coarse registration, and NDT performs general in coarse registration experiments. The conclusion of this experiment can provide an effective reference for the selection of point cloud registration methods in different situations.