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The fast feature extraction of point cloud data becomes one core of the reverse-engineering CAD modeling researches that are based on point cloud. In the two-dimensional or three-dimensional product contour, the circle is a very common shape. This paper proposed a new circle extraction method of three-dimensional point cloud data, which is based on the image. This method takes full advantage of the point cloud features and the image, as well as the ellipse detection algorithm of image, for extracting the circle from the three-dimensional point cloud. From the experiment results, we can observe that this method is simple, time-saving and easy to realize.