KISS-ICP

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KISS-ICP is a LiDAR Odometry pipeline that just works on most of the cases without tunning any parameter.

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Why implement with OpenMP?

• TBB is made by Intel, and it is not available on all platforms.
• OpenMP is a standard for parallel programming on shared-memory systems, and it is available on most platforms.

Changes

• Replaced TBB usage by OpenMP.
  • To set the number of threads, use the NUM_THREADS in cpp/kiss_icp/CMakeLists.txt.
  • OpenMP implementation is slightly slower than TBB (around 10% slower), but it is more portable.

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!