https://github.com/PRBonn/kiss-slam
A LiDAR SLAM system that just works
https://github.com/PRBonn/kiss-slam
lidar lidar-slam mapping perception robotics slam
Last synced: 14 days ago
JSON representation
A LiDAR SLAM system that just works
- Host: GitHub
- URL: https://github.com/PRBonn/kiss-slam
- Owner: PRBonn
- License: mit
- Created: 2025-03-17T08:48:29.000Z (about 1 month ago)
- Default Branch: main
- Last Pushed: 2025-04-03T11:35:15.000Z (25 days ago)
- Last Synced: 2025-04-13T00:27:02.637Z (15 days ago)
- Topics: lidar, lidar-slam, mapping, perception, robotics, slam
- Language: Python
- Homepage: https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/kiss2025iros.pdf
- Size: 105 KB
- Stars: 350
- Watchers: 11
- Forks: 17
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Citation: CITATION.cff
- Codeowners: .github/CODEOWNERS
Awesome Lists containing this project
README
KISS-SLAM
Install
•
Paper
•
Contact Us
[KISS-SLAM](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/kiss2025iros.pdf) is a simple, robust, and accurate 3D LiDAR SLAM system that **just works**.
## Install
```
pip install kiss-slam
```
## Running the system
Next, follow the instructions on how to run the system by typing:
```
kiss_slam_pipeline --help
```
This should print the following help message:
### Config
You can generate a default `config.yaml` by typing:
```
kiss_slam_dump_config
```
which will generate a `kiss_slam.yaml` file. Now, you can modify the parameters and pass the file to the `--config` option when running the `kiss_slam_pipeline`.
### Install Python API (developer mode)
For development purposes:
```
sudo apt install git python3-pip libeigen3-dev libsuitesparse-dev
python3 -m pip install --upgrade pip
git clone https://github.com/PRBonn/kiss-slam.git
cd kiss-slam
make editable
```
## Citation
If you use this library for any academic work, please cite our original paper:
```bib
@article{kiss2025arxiv,
author = {T. Guadagnino and B. Mersch and S. Gupta and I. Vizzo and G. Grisetti and C. Stachniss},
title = {{KISS-SLAM: A Simple, Robust, and Accurate 3D LiDAR SLAM System With Enhanced Generalization Capabilities}},
journal = {arXiv preprint},
year = 2025,
volume = {arXiv:2503.12660},
url = {https://arxiv.org/pdf/2503.12660},
}
```
## Acknowledgements
This project builds on top of [KISS-ICP](https://github.com/PRBonn/kiss-icp), [MapClosures](https://github.com/PRBonn/MapClosures), and [g2o](https://github.com/RainerKuemmerle/g2o).
## Contributing
We envision KISS-SLAM 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; open a Pull Request!
## Contact Us
For questions or feedback:
- GitHub Issues: https://github.com/PRBonn/kiss-slam/issues