Multi-view 3D data registration is always a research challenges in vision measurement, and a multi-view of 3D data registration method based on global control codeless points is proposed. The global coordinate system is established with many fixed codeless marked points as global control points. The stereo vision combined with structured light measurement system is moved to different locations to measure the object surface of each region, and obtain the local coordinates of 3D data and control points. Automatically obtaining the pairs same named control points of the local and global based on the characteristics of spatial geometry transform invariance of these control points. According to the pairs of control points, SVD algorithm is adopted to solve the transformation relation from local coordinate system to global, and then the global registration is complete. Finally, with 10 circle marked points for the global control points, a shoe last is measured from five different views. The experimental results show that the method can eliminate the cumulative error in the process of multi-view 3D data registration. The average error of coincidence degree is 0.013 mm, the comparison of standard deviation with hand-held scanner is 0.177 mm, and the good registration result can be obtained..