In this paper,we put forward an interest point detection framework and combine with a spin image algorithm to register them. A framework is presented in this study. This method make use of the Harris Operator Extension method of interest point detection on 3D manifold triangular meshes in barycentric coordinate. Using this approach, we can extract the object correctly and effectively in noise situation. The unique advantage of this framework is its applicability to triangular meshes models. Experimental results on a different number of models are shown to demonstrate more accurate and effectively results for global registering 3D Objects triangular meshes for three pairs of corresponding interest point features.