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KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done in the Right Way https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf

License: MIT License

C++ 33.01% Python 52.82% Makefile 0.11% CMake 5.92% Jupyter Notebook 8.14%

kiss-icp's Introduction

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

kiss_sample.mp4

ROS2 support

It was never this easy, just git clone this repo into your catkin workspace and build it:

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

ROS1 support

It was never this easy, just git clone this repo into your catkin workspace and build it:

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

Install Python API

, , and .

To get started, just run

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

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     = {1-8},
  doi       = {10.1109/LRA.2023.3236571},
  volume    = {8},
  number    = {2},
  year      = {2023},
  codeurl   = {https://github.com/PRBonn/kiss-icp},
}