yujinrobot / kiss-icp

A LiDAR odometry pipeline that just works

KISS-ICP

Demo   •   Install   •   ROS 1   •   ROS 2   •   ROS Demo   •   Paper   •   Contact Us

KISS-ICP is a LiDAR Odometry pipeline that just works on most of the cases without tunning any parameter.

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Install

pip install kiss-icp

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

kiss_icp_pipeline --help

This should print the following help message:

For advanced instructions on the Python pacakge plase see this README

ROS support

ROS 2

git clone https://github.com/PRBonn/kiss-icp && colcon build

ROS 1

cd ~/catkin_ws/ && git clone https://github.com/PRBonn/kiss-icp && catkin build

For more detailed instructions on the ROS wrappers, please visit this README

Citation

If you use this library for any academic work, please cite our original paper.

@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!