This paper presents a novel point set registration algorithm based on iterative linear optimization,which can be used to register both rigid and non-rigid point set.Firstly,a new cost function was constructed to evaluate the summation of squared distance between the two point sets,in which rigid transformation,non-rigid elastic deformation and complex deformation were all included for consideration.Secondly,the proposed cost was linearized using to obtain a linear cost function of registration parameters.Thirdly,the registration parameters were solved by iterative optimization using Tikhonov regularization.Experimental results validated the performances of proposed method.