{"id":13722695,"url":"https://github.com/PRBonn/kiss-icp","last_synced_at":"2025-05-07T16:30:43.025Z","repository":{"id":59377712,"uuid":"536134468","full_name":"PRBonn/kiss-icp","owner":"PRBonn","description":"A LiDAR odometry pipeline that just 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Processing","C++","Simultaneous Localization and Mapping","🗺️ SLAM \u0026 Localization","Awesome LiDAR SLAM Algorithms"],"sub_categories":["Lidar and Point Cloud Processing","Lidar"],"readme":"\u003cdiv align=\"center\"\u003e\n    \u003ch1\u003eKISS-ICP\u003c/h1\u003e\n    \u003ca href=\"https://github.com/PRBonn/kiss-icp/releases\"\u003e\u003cimg src=\"https://img.shields.io/github/v/release/PRBonn/kiss-icp?label=version\" /\u003e\u003c/a\u003e\n    \u003ca href=\"https://github.com/PRBonn/kiss-icp/blob/main/LICENSE\"\u003e\u003cimg src=\"https://img.shields.io/github/license/PRBonn/kiss-icp\" /\u003e\u003c/a\u003e\n    \u003ca href=\"https://github.com/PRBonn/kiss-icp/blob/main/\"\u003e\u003cimg src=\"https://img.shields.io/badge/Linux-FCC624?logo=linux\u0026logoColor=black\" /\u003e\u003c/a\u003e\n    \u003ca href=\"https://github.com/PRBonn/kiss-icp/blob/main/\"\u003e\u003cimg src=\"https://img.shields.io/badge/Windows-0078D6?st\u0026logo=windows\u0026logoColor=white\" /\u003e\u003c/a\u003e\n    \u003ca href=\"https://github.com/PRBonn/kiss-icp/blob/main/\"\u003e\u003cimg src=\"https://img.shields.io/badge/mac%20os-000000?\u0026logo=apple\u0026logoColor=white\" /\u003e\u003c/a\u003e\n    \u003cbr /\u003e\n    \u003cbr /\u003e\n    \u003ca href=https://user-images.githubusercontent.com/21349875/219626075-d67e9165-31a2-4a1b-8c26-9f04e7d195ec.mp4\u003eDemo\u003c/a\u003e\n    \u003cspan\u003e\u0026nbsp;\u0026nbsp;•\u0026nbsp;\u0026nbsp;\u003c/span\u003e\n    \u003ca href=\"https://github.com/PRBonn/kiss-icp/blob/main/README.md#Install\"\u003eInstall\u003c/a\u003e\n    \u003cspan\u003e\u0026nbsp;\u0026nbsp;•\u0026nbsp;\u0026nbsp;\u003c/span\u003e\n    \u003ca href=\"https://github.com/PRBonn/kiss-icp/blob/main/ros\"\u003eROS 2\u003c/a\u003e\n    \u003cspan\u003e\u0026nbsp;\u0026nbsp;•\u0026nbsp;\u0026nbsp;\u003c/span\u003e\n    \u003ca href=https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf\u003ePaper\u003c/a\u003e\n    \u003cspan\u003e\u0026nbsp;\u0026nbsp;•\u0026nbsp;\u0026nbsp;\u003c/span\u003e\n    \u003ca href=https://github.com/PRBonn/kiss-icp/issues\u003eContact Us\u003c/a\u003e\n  \u003cbr /\u003e\n  \u003cbr /\u003e\n\n[KISS-ICP](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf) is a LiDAR Odometry pipeline that **just works** on most of the cases without tunning any parameter.\n\n  \u003cp align=\"center\"\u003e\n    \u003ca href=\"https://user-images.githubusercontent.com/21349875/219626075-d67e9165-31a2-4a1b-8c26-9f04e7d195ec.mp4\"\u003e\u003cimg alt=\"KISS-ICP Demo\" src=\"https://user-images.githubusercontent.com/21349875/211829074-474bec08-0129-4e34-85e7-62265e44a7de.png\"\u003e\u003c/a\u003e\n  \u003c/p\u003e\n\u003c/div\u003e\n\n\u003chr /\u003e\n\n## Install\n\n```sh\npip install kiss-icp\n```\n\nNext, follow the instructions on how to run the system by typing:\n\n```sh\nkiss_icp_pipeline --help\n```\n\n\u003cdetails\u003e\n\u003csummary\u003eThis should print the following help message:\u003c/summary\u003e\n\n![out](https://user-images.githubusercontent.com/21349875/193282970-25a400aa-ebcd-487a-b839-faa04eeca5b9.png)\n\n\u003c/details\u003e\n\nFor advanced instructions on the Python package please see [this README](python/README.md)\n\n## ROS support\n\n\u003cdetails\u003e\n\u003csummary\u003eROS 2\u003c/summary\u003e\n\n```sh\ncd ~/ros2_ws/src/ \u0026\u0026 git clone https://github.com/PRBonn/kiss-icp \u0026\u0026 cd ~/ros2_ws/ \u0026\u0026 colcon build --packages-select kiss_icp\n```\nFor more detailed instructions on the ROS wrapper, please visit this [README](ros/README.md)\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eROS 1\u003c/summary\u003e\n\n⚠️ ⚠️ **ROS 1 is deprecated in KISS-ICP and is not officially supported anymore. Upgrade now to ROS 2!** ⚠️ ⚠️\n\nThe last release that supports ROS 1 is [v0.3.0](https://github.com/PRBonn/kiss-icp/tree/v0.3.0), if you still need ROS 1 support please check that version.\n\n\u003c/details\u003e\n\n\n## Citation\n\nIf you use this library for any academic work, please cite our original [paper](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf).\n\n```bibtex\n@article{vizzo2023ral,\n  author    = {Vizzo, Ignacio and Guadagnino, Tiziano and Mersch, Benedikt and Wiesmann, Louis and Behley, Jens and Stachniss, Cyrill},\n  title     = {{KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way}},\n  journal   = {IEEE Robotics and Automation Letters (RA-L)},\n  pages     = {1029--1036},\n  doi       = {10.1109/LRA.2023.3236571},\n  volume    = {8},\n  number    = {2},\n  year      = {2023},\n  codeurl   = {https://github.com/PRBonn/kiss-icp},\n}\n```\n\n## Contributing\n\nWe envision KISS-ICP as a community-driven project, we love to see how the project is growing thanks to the contributions from the community. We would love to see your face in the list below, just open a Pull Request!\n\n\u003ca href=\"https://github.com/PRBonn/kiss-icp/graphs/contributors\"\u003e\n  \u003cimg src=\"https://contrib.rocks/image?repo=PRBonn/kiss-icp\" /\u003e\n\u003c/a\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FPRBonn%2Fkiss-icp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FPRBonn%2Fkiss-icp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FPRBonn%2Fkiss-icp/lists"}