A depth image automatic registration process combining with texture information is mainly used to reconstruct the three-dimensional model of various actual objects, which comprises the steps: firstly extracting a texture image from scanning data or generating a texture image according a depth image, secondly extracting interest pixels in the texture image based on the characteristics of SIFT, andfinding out candidate sets therein matched with the interest pixels through the crosscheck method, thirdly finding out correct matched pixel pairs in the candidate sets according to geometry information constraint, fourthly finding out matched apex pairs corresponding to the matched pixel pairs in a three-dimensional space, and calculating the rigid replacement matrix between two depth images, fifthly optimizing the result through using the improved ICP algorism, sixthly dividing the input sequences of several depth images into a plurality of bar type subsequences based on the registrations of two depth images, finally combining the subsequences through the strategy of forward searching, and constructing an integral three-dimensional model. The invention can fast register large-scale three-dimensional scanning data to generate a three-dimensional model, and has strong anti-noise capability and excellent universality.