This　paper　deals　with　the　problem　of　relative　pose　determination　between　a　model-known　uncooperative　space　target　and　a　chaser　spacecraft　using　three-dimensional　point　cloud.　A　novel,　reliable　and　real-time　relative　pose　determination　framework　is　proposed,　which　is　composed　of　a　region　of　interest-based　initial　pose　acquisition　method　and　a　template　matching　iterative　closest　point　algorithm　for　tracking　pose.　The　initial　pose　is　obtained　by　the　principal　component　analysis　method　which　aligns　the　region　of　interest　extracted　from　the　scanning　point　cloud　with　the　region　of　interest　of　the　known　model　point　cloud,　and　a　three-dimensional　convex　hull　is　constructed　to　extract　the　region　of　interest　fast.　To　improve　the　iterative　closest　point,　the　registration　between　the　template　point　cloud　generated　by　the　pose　of　last　frame　and　the　point　cloud　of　the　current　frame　is　used　to　replace　the　registration　between　the　local　scanning　point　cloud　and　the　global　model　point　cloud.　In　addition,　the　performance　(stability,　low　cost　and　their　robustness　against　noise)　of　the　proposed　initial　pose　acquisition　method　and　the　accuracy　and　reliability　of　the　pose　tracking　algorithm　have　been　demonstrated　by　the　numerical　experiments.　Finally,　the　effectiveness　of　the　proposed　method　is　verified　by　the　field　experiment.