genz-icp
GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2025)
Science Score: 67.0%
This score indicates how likely this project is to be science-related based on various indicators:
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✓CITATION.cff file
Found CITATION.cff file -
✓codemeta.json file
Found codemeta.json file -
✓.zenodo.json file
Found .zenodo.json file -
✓DOI references
Found 2 DOI reference(s) in README -
✓Academic publication links
Links to: arxiv.org, ieee.org -
○Academic email domains
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○Institutional organization owner
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○JOSS paper metadata
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○Scientific vocabulary similarity
Low similarity (10.9%) to scientific vocabulary
Keywords
Repository
GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2025)
Basic Info
Statistics
- Stars: 294
- Watchers: 6
- Forks: 37
- Open Issues: 1
- Releases: 2
Topics
Metadata Files
README.md
GenZ-ICP
Demo • Video • Install • ROS • Paper • Contact Us
:gear: How to build & run
ROS1
How to build
You should not need any extra dependency, just clone and build:
sh
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/cocel-postech/genz-icp.git
cd ..
catkin build genz_icp --cmake-args -DCMAKE_BUILD_TYPE=Release
source ~/catkin_ws/devel/setup.bash
How to run
Option 1
If you want to use a pre-tuned parameter set, you need to provide the config file with the topic name as arguments:
sh
roslaunch genz_icp odometry.launch topic:=<topic_name> config_file:=<config_file_name>.yaml
sh
rosbag play <rosbag_file_name>.bag
Examples and download links for demo datasets can be found here
Option 2
Otherwise, the only required argument to provide is the topic name:
sh
roslaunch genz_icp odometry.launch topic:=<topic_name>
sh
rosbag play <rosbag_file_name>.bag
Check out the tuning guide for the parameters of GenZ-ICP at this link
ROS2
How to build
You should not need any extra dependency, just clone and build:
sh
mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone https://github.com/cocel-postech/genz-icp.git
cd ..
colcon build --packages-select genz_icp --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
source ~/colcon_ws/install/setup.bash
How to run
Option 1
If you want to use a pre-tuned parameter set, you need to provide the config file with the topic name as arguments:
sh
ros2 launch genz_icp odometry.launch.py topic:=<topic_name> config_file:=<config_file_name>.yaml
sh
ros2 bag play <rosbag_file_name>.db3
Examples and download links for demo datasets can be found here
Option 2
Otherwise, the only required argument to provide is the topic name:
sh
ros2 launch genz_icp odometry.launch.py topic:=<topic_name>
sh
ros2 bag play <rosbag_file_name>.db3
Check out the tuning guide for the parameters of GenZ-ICP at this link
:pushpin: Todo list
- [ ] Code optimization to reduce CPU load
- [ ] Python support for GenZ-ICP
:pencil: Citation
If you use our codes, please cite our paper (arXiv, IEEE Xplore)
@ARTICLE{lee2024genzicp,
author={Lee, Daehan and Lim, Hyungtae and Han, Soohee},
journal={IEEE Robotics and Automation Letters (RA-L)},
title={{GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting}},
year={2025},
volume={10},
number={1},
pages={152-159},
keywords={Localization;Mapping;SLAM},
doi={10.1109/LRA.2024.3498779}
}
:sparkles: Contributors
Like KISS-ICP, we envision GenZ-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!
:pray: Acknowledgement
Many thanks to KISS team—Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch—to provide outstanding LiDAR odometry codes!
Please refer to KISS-ICP for more information
:mailbox: Contact information
If you have any questions, please do not hesitate to contact us
* Daehan Lee :envelope: daehanlee at postech dot ac dot kr
* Hyungtae Lim :envelope: shapelim at mit dot edu
Owner
- Name: POSTECH CoCEL
- Login: cocel-postech
- Kind: organization
- Location: Korea, South
- Website: https://cocel.postech.ac.kr/
- Repositories: 1
- Profile: https://github.com/cocel-postech
Computing and Control Engineering Laboratory (CoCEL)
Citation (CITATION.cff)
cff-version: 1.2.0
preferred-citation:
title: "GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting"
doi: "10.1109/LRA.2024.3498779"
year: "2024"
type: article
journal: "IEEE Robotics and Automation Letters (RA-L)"
codeurl: https://github.com/cocel-postech/genz-icp
authors:
- family-names: Lee
given-names: Daehan
- family-names: Lim
given-names: Hyungtae
- family-names: Han
given-names: Soohee
GitHub Events
Total
- Create event: 6
- Release event: 2
- Issues event: 28
- Watch event: 367
- Delete event: 4
- Issue comment event: 52
- Push event: 51
- Public event: 1
- Pull request event: 17
- Fork event: 42
Last Year
- Create event: 6
- Release event: 2
- Issues event: 28
- Watch event: 367
- Delete event: 4
- Issue comment event: 52
- Push event: 51
- Public event: 1
- Pull request event: 17
- Fork event: 42
Issues and Pull Requests
Last synced: 4 months ago
All Time
- Total issues: 13
- Total pull requests: 10
- Average time to close issues: about 21 hours
- Average time to close pull requests: 1 day
- Total issue authors: 10
- Total pull request authors: 6
- Average comments per issue: 2.15
- Average comments per pull request: 0.5
- Merged pull requests: 5
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 13
- Pull requests: 10
- Average time to close issues: about 21 hours
- Average time to close pull requests: 1 day
- Issue authors: 10
- Pull request authors: 6
- Average comments per issue: 2.15
- Average comments per pull request: 0.5
- Merged pull requests: 5
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- LimHyungTae (4)
- MatteoAzziniUnice (2)
- cosminvlaicu (1)
- engcang (1)
- blackjacket1403 (1)
- hz658832 (1)
- barcesat (1)
- Qin-Yuan (1)
- shubhamm-shahh (1)
- Daehan2Lee (1)
- yingyingqin (1)
Pull Request Authors
- Daehan2Lee (3)
- AllenIsaacJose (2)
- Seongjun-Kim00 (2)
- ali-pahlevani (1)
- LimHyungTae (1)
- ElaineChen10 (1)
- TannerGilbert (1)
- deliangye (1)