kiss-icp

KISS-ICP

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KISS-ICP is a LiDAR Odometry pipeline that just works on most of the cases withouth tunning any parameter.

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Install

pip install kiss-icp

If you also want to install all the (optional) dependencies, like Open3D for running the visualizer:

pip install "kiss-icp[all]"

Running the system

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

kiss_icp_pipeline --help

This should print the following help message:

Config

You can generate a default config.yaml by typing

kiss_icp_dump_config

Now, you can modify the parameters and pass the file to the --config option when running the kiss_icp_pipeline.

Install Python API (developer mode)

If you plan to modify the code then you need to setup the dev dependencies, luckily, the only real requirements are a modern C++ compiler and the pip package manager, nothing else!, in Ubuntu-based systems this can be done with:

sudo apt install g++ python3-pip

After that you can clone the code and install the python api:

git clone https://github.com/PRBonn/kiss-icp.git
cd kiss-icp
make editable

Install Python API (expert mode)

If you want to have more controll over the build, you should then install cmake, ,ninja, tbb, Eigen, and pybind11 as extra dependencies in your system, the ubuntu-way of doing this is:

sudo apt install build-essential libeigen3-dev libtbb-dev pybind11-dev ninja-build

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 comunity-driven project, we love to see how the project is growing thanks to the contributions from the comunity. We would love to see your face in the list below, just open a Pull Request!