Readme
KISS-ICP is a LiDAR Odometry pipeline that just works on most of the cases withouth tunning any parameter.
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]"
Next, follow the instructions on how to run the system by typing:
kiss_icp_pipeline --help
This should print the following help message:
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
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
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},
}
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!
FAQs
Simple yet effective 3D LiDAR-Odometry registration pipeline
We found that kiss-icp demonstrated a healthy version release cadence and project activity because the last version was released less than a year ago. It has 1 open source maintainer collaborating on the project.
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