Recently,　motion　averaging　has　been　introduced　as　an　effective　means　to　solve　multi-view　registration　problem.　This　approach　utilizes　the　Lie-algebras　to　implement　the　averaging　of　many　relative　motions,　each　of　which　corresponds　to　the　registration　result　of　the　scan　pair　involved　in　multiview　registration.　Accordingly,　a　key　question　is　how　to　obtain　accurate　registration　between　two　partially　overlapping　scans.　This　paper　presents　a　method　to　estimate　the　overlapping　percentage　between　each　scan　pair　involved　in　multi-view　registration.　What＇s　more,　it　applies　the　trimmed　iterative　closest　point　(TrICP)　algorithm　to　obtain　accurate　relative　motions　for　the　scan　pairs　including　high　overlapping　percentage.　Besides,　it　introduces　the　parallel　computation　to　increase　the　efficiency　of　multi-view　registration.　Experimental　results　carried　out　with　public　data　sets　illustrate　its　superiority　over　previous　approaches.　©　2014　IEEE.