fast_gicp

This package is a collection of GICP-based fast point cloud registration algorithms. It constains a multi-threaded GICP as well as multi-thread and GPU implementations of our voxelized GICP (VGICP) algorithm. All the implemented algorithms have the PCL registration interface so that they can be used as an inplace replacement for GICP in PCL.

FastGICP: multi-threaded GICP algorithm (~40FPS)
FastGICPSingleThread: GICP algorithm optimized for single-threading (~15FPS)
FastVGICP: multi-threaded and voxelized GICP algorithm (~70FPS)
FastVGICPCuda: CUDA-optimized voxelized GICP algorithm (~120FPS)

Installation

Dependencies

PCL
Eigen
Sophus
nvbio
OpenMP (optional)
CUDA (optional)

We have tested this package with Ubuntu 18.04, ROS melodic, and CUDA 10.2.

ROS

cd ~/catkin_ws/src
git clone https://github.com/SMRT-AIST/fast_gicp --recursive
cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

Non-ROS

git clone https://github.com/SMRT-AIST/fast_gicp --recursive
cd fast_gicp && git checkout non_ros
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j8

Benchmark

CPU:Core i9-9900K GPU:GeForce RTX2080Ti

roscd fast_gicp/data
rosrun fast_gicp gicp_align 251370668.pcd 251371071.pcd

target:17249[pts] source:17249[pts]
--- pcl_gicp ---
single:116.098[msec] 100times:11157.4[msec] 
--- pcl_ndt ---
single:168.511[msec] 100times:15957.2[msec] 
--- fgicp_st ---
single:106.775[msec] 100times:10525.3[msec] 100times_reuse:6719.9[msec]
--- fgicp_mt ---
single:39.8451[msec] 100times:3159.26[msec] 100times_reuse:2279.86[msec]
--- vgicp_st ---
single:111.046[msec] 100times:8228.94[msec] 100times_reuse:4354.57[msec]
--- vgicp_mt ---
single:23.0753[msec] 100times:2345.63[msec] 100times_reuse:1381.06[msec]
--- vgicp_cuda (parallel_kdtree) ---
single:16.3572[msec] 100times:1585.69[msec] 100times_reuse:783.953[msec]
--- vgicp_cuda (gpu_bruteforce) ---
single:47.8433[msec] 100times:3235.27[msec] 100times_reuse:1582.99[msec]

See src/align.cpp for the detailed usage.

Test on KITTI

# Perform frame-by-frame registration
rosrun fast_gicp gicp_kitti /your/kitti/path/sequences/00/velodyne

Related packages

Papers

If you use this package, please cite the following paper:

Kenji Koide, Masashi Yokozuka, Shuji Oishi, and Atsuhiko Banno, Voxelized GICP for fast and accurate 3D point cloud registration, 16th Intelligent Autonomous Systems Conference (IAS16) (under review). [link]

Contact

Kenji Koide, k.koide@aist.go.jp

Robot Innovation Research Center, National Institute of Advanced Industrial Science and Technology, Japan [URL]

pjj123 / fast_gicp