Simple yet effective 3D LiDAR-Odometry registration pipeline
Project description
KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way
📰 NEWS!!! 📰 ROS API
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 wrapper, please visit here
Install Python API
We released a python-package supported on , , and .
To get started, just run
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:
Install Python API (developer mode)
If you plan to modify the code then you need to setup the dev dependencies, luckilly, the only real
requirements are a modern C++ compiler and the pip
package manager, nothing else!, in Ubuntu-based
sytems 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
pip install --verbose .
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
Authors
- Ignacio Vizzo
- Tiziano Guadagnino
- Benedikt Mersch
- Louis Wiesmann
- Jens Behley
- Cyrill Stachniss
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},
}
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