In the registration, we adjust the raw distorted points by modeling the lidar motion as the constant angular and linear velocities within a scan interval, and then exploit the probabilistic framework to model the local plane structure of the matched feature points instead of the original point-to-point mode. The transform is achieved by the combination of coarse motion estimation and fine batch adjustment. The algorithm has been validated by a large set of qualitative tests on our collected point clouds and quantitative comparisons with the excellent methods on the public Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) odometry datasets.