Abstract: It is difficult to register LiDAR data and photogrammetric image automatically with traditional methods because of their different imaging manners.We presented a novel method based on a 6-tuples relaxation.First,the intersection of two edges perpendicular to each others is defined as building corner.Then,the rule that triangle consist of three corners with same height is similar with its projection is used to match corners with the 6-tuples relaxation.Finally projection distortion is used to optimize matching.Experimental results prove that the proposed method registers LiDAR data and photogrammetric image automatically and precisely without interior or exterior orientations,and immune to affines and rotations.