In view of the importance of accurately measuring the relative density of a selective laser melted (SLMed) part for optimizing the selective laser melting (SLM) processing parameters, suitable procedures of the Archimedes method considering the surface-connected cavities were proposed by comparing the results using the Archimedes method with image analysis. The effects of the SLM processing parameters on the relative density of AlSi10Mg were investigated using the proposed procedures of the Archimedes methods and image analysis. Fourteen SLMed samples were produced by different SLM processing parameters according to Doehlert Matrix. The regression models correlating relative density and three SLM processing parameters (laser power, scan speed, and hatching distance) were built and the optimum parameter combination to get a high relative density was obtained. By plotting the response surfaces and contours of the regression models, it was found that the relative densities are both higher at the combination of the higher scan speed, higher power, and lower hatching distance and at the combination of a lower scan speed, a moderate laser power, and a optional hatching distance. It was also found that the parameter of hatching distance is the crucial parameter to get a high relative density and to get high mechanical property.