The task of tracking the pose of an object with a known geometry from point cloud measurements arises in robot perception. It calls for a solution that is both accurate and robust, and can be computed at a rate that aligns with the needs of a control system that might make decisions based on it. The Iterative Closest Point (ICP) algorithm is widely used for this purpose, but it is susceptible to failure in practical scenarios. We present a robust and efficient solution for pose-from-point cloud estimation called the Pose Lookup Method (PLuM). PLuM is a probabilistic reward-based objective function that is resilient to measurement uncertainty and clutter. Efficiency is achieved through the use of lookup tables, which substitute complex geometric operations such as raycasting used in earlier solutions. Our results show millimetre accuracy and fast pose estimation in benchmark tests using triangulated geometry models, outperforming state-of-the-art ICP-based methods. These results are extended to field robotics applications, resulting in real-time haul truck pose estimation. By utilising point clouds from a LiDAR fixed to a rope shovel, the PLuM algorithm tracks a haul truck effectively throughout the excavation load cycle at a rate of 20 Hz, matching the sensor frame rate. PLuM is straightforward to implement and provides dependable and timely solutions in demanding environments.
Keywords: perception; point cloud; pose estimation; real-time.