3D registration is becoming one of the essential technologies for service and industrial robots. For 3D registration, 3D keypoint detection, feature computation on the detected keypoints, and correspondence between model and scene keypoints based on the features are required in most cases. In this research, we will propose high accuracy correspondence method to improve accuracy of 3D registration by using geometric relation among 3D keypoints. As the first step, this paper shows accuracy analysis of the correspondence that depends on 3D shape of a target object and methods to detect 3D keypoints and compute features on the detected keypoints.