https://github.com/PRBonn/kiss-icp

A LiDAR odometry pipeline that just works
https://github.com/PRBonn/kiss-icp

3d-mapping icp lidar-slam robotics ros ros2 slam

Last synced: 3 months ago
JSON representation

A LiDAR odometry pipeline that just works

• Host: GitHub
• URL: https://github.com/PRBonn/kiss-icp
• Owner: PRBonn
• License: mit
• Created: 2022-09-13T13:15:47.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2024-04-13T11:12:42.000Z (7 months ago)
• Last Synced: 2024-04-14T04:10:06.605Z (7 months ago)
• Topics: 3d-mapping, icp, lidar-slam, robotics, ros, ros2, slam
• Language: Python
• Homepage: https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf
• Size: 471 KB
• Stars: 1,338
• Watchers: 42
• Forks: 268
• Open Issues: 12
• Metadata Files:
  • Readme: README.md
  • License: LICENSE
  • Citation: CITATION.cff
  • Codeowners: .github/CODEOWNERS

Awesome Lists containing this project

• awesome-robotic-tooling - KISS-ICP - A LiDAR Odometry pipeline that just works on most of the cases without tunning any parameter. (Simultaneous Localization and Mapping / Lidar)

README

        


    
KISS-ICP

    

    

    

    

    

    


    


    Demo

      •  

    Install

      •  

    ROS 2

      •  

    Paper

      •  

    Contact Us

  


  


[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.

  


    

  





## Install

```sh

pip install kiss-icp

```

Next, follow the instructions on how to run the system by typing:

```sh

kiss_icp_pipeline --help

```

This should print the following help message:

![out](https://user-images.githubusercontent.com/21349875/193282970-25a400aa-ebcd-487a-b839-faa04eeca5b9.png)

For advanced instructions on the Python package please see [this README](python/README.md)

## ROS support

ROS 2

```sh

cd ~/ros2_ws/src/ && git clone https://github.com/PRBonn/kiss-icp && cd ~/ros2_ws/ && colcon build --packages-select kiss_icp

```

For more detailed instructions on the ROS wrapper, please visit this [README](ros/README.md)

ROS 1

⚠️ ⚠️ **ROS 1 is deprecated in KISS-ICP and is not officially supported anymore. Upgrade now to ROS 2!** ⚠️ ⚠️

The 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.

## Citation

If 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).

```bibtex

@article{vizzo2023ral,

  author    = {Vizzo, Ignacio and Guadagnino, Tiziano and Mersch, Benedikt and Wiesmann, Louis and Behley, Jens and Stachniss, Cyrill},

  title     = {{KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way}},

  journal   = {IEEE Robotics and Automation Letters (RA-L)},

  pages     = {1029--1036},

  doi       = {10.1109/LRA.2023.3236571},

  volume    = {8},

  number    = {2},

  year      = {2023},

  codeurl   = {https://github.com/PRBonn/kiss-icp},

}

```

## Contributing

We 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!