Kissicp Save
A LiDAR odometry pipeline that just works
KISS-ICP
Demo • Install • ROS 2 • Paper • Contact Us
KISS-ICP is a LiDAR Odometry pipeline that just works on most of the cases without tunning any parameter.
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 package please see this README
ROS support
ROS 2
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 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, 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.
@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!
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