The line laser sensor is a new type of sensor that has been more widely used in recent years. It has the advantages of noncontact, high accuracy and fast speed, which can acquire high-resolution point cloud data in a short time. However, the traditional point cloud registration algorithm has the problems of low registration accuracy and long registration time when processing the line laser point cloud, which make it difficult to meet the requirements of production time and accuracy in practical application scenarios. In this paper, we propose a line laser point cloud registration method that combines contour features to extract the contour features of the line laser and utilize them as the key points for point cloud registration iteratively, and experiments are conducted to compare the traditional iterative closest point. The experimental results demonstrate that our method has great potential for application because of its high accuracy and short registration time.