In reverse engineering, in order to analyze the accuracy of formed work-piece, the shape error between the formed work-piece and its CAD model need to be calculated. In this paper, a matching method on the basis of triangle mesh is proposed. This matching method includes three parts: pre-positioning, rough registration and fine registration. Firstly, the maximum projective plane of cloud data is designed to parallel to the xy plane through translation and rotation, and cloud data is translated by a vector which can be obtained with the point with the maximum z coordinate and the origin of coordinates. Secondly, cloud data is gradually rotated 360 degree around z axis confirm the angle making the error minimum. In this way, an initial value of ICP algorithm can be obtained, which can avoid the local convergence in the algorithm. Finally, ICP algorithm can be applied to calculate the surface error further. After matching, the error between work-piece and the CAD model can be calculated by interpolation based on triangle mesh. The results show that the matching method can obtain the higher matching accuracy.