We briefly describe a novel solution to the simultaneous multiple viewpoint registration problem and evaluate its performance in a practical machine vision application. The algorithm involves computation of a constant matrix, which encodes the point set registration, from which the optimal rigid transformations are found using a simple and efficient iterative algorithm. We describe this algorithm's incorporation into a multiple view surface registration system, and present results from experiments on two different sets of real surface data. These results demonstrate that the proposed algorithm is accurate and efficient.