We present a simple yet highly efficient method to register range and color images. This method does not rely upon calibration parameters nor does it use visual features analysis. Our assumption is that if the transformation that registers the images is a mathematical function, we can approximate with little number of samples. To this end, thin-plate spline-based interpolations are used in this paper. Therefore, the registration of one point in our method takes only the solving of a nonlinear function. Drastically enhanced performances in the computational processing are attained under this condition. In fact, we show that ultimately our computational algorithm is independent of the complexity of the mathematical model underlying it. Finally, this paper reports on the results of experiments conducted with various range camera models that endorse the proposed method. Eventually, three key features can be derived from our method: practicality, accuracy, and wide applicability.