kiss-icp

A LiDAR odometry pipeline that just works

https://github.com/prbonn/kiss-icp

Science Score: 75.0%

This score indicates how likely this project is to be science-related based on various indicators:

✓
CITATION.cff file
Found CITATION.cff file
✓
codemeta.json file
Found codemeta.json file
✓
.zenodo.json file
Found .zenodo.json file
✓
DOI references
Found 1 DOI reference(s) in README
○
Academic publication links
✓
Committers with academic emails
3 of 44 committers (6.8%) from academic institutions
✓
Institutional organization owner
Organization prbonn has institutional domain (www.ipb.uni-bonn.de)
○
JOSS paper metadata
○
Scientific vocabulary similarity
Low similarity (13.1%) to scientific vocabulary

Keywords

3d-mapping icp lidar-slam robotics ros ros2 slam

Keywords from Contributors

point-cloud

Last synced: 6 months ago · JSON representation ·

Repository

A LiDAR odometry pipeline that just works

Basic Info

Host: GitHub
Owner: PRBonn
License: mit
Language: C++
Default Branch: main
Homepage: https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf
Size: 730 KB

Statistics

Stars: 1,903
Watchers: 41
Forks: 382
Open Issues: 9
Releases: 25

Topics

3d-mapping icp lidar-slam robotics ros ros2 slam

Created over 3 years ago · Last pushed 6 months ago

Metadata Files

Readme License Citation Codeowners

KISS-ICP

Demo • Install • ROS 2 • Paper • Contact Us

[KISS-ICP](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf) is a LiDAR Odometry pipeline that **just works** on most of the cases without tunning any parameter.

Install

sh pip install kiss-icp

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

sh kiss_icp_pipeline --help

This should print the following help message:

![out](https://github.com/user-attachments/assets/7dea767f-d0e4-4f6b-a523-ba3be25bbfae)

For advanced instructions on the Python package please see this README

ROS support

ROS 2

```sh 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/README.md)

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](https://github.com/PRBonn/kiss-icp/tree/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.

bibtex @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!

Owner

Name: Photogrammetry & Robotics Bonn
Login: PRBonn
Kind: organization
Email: cyrill.stachniss@igg.uni-bonn.de
Location: Bonn

Website: www.ipb.uni-bonn.de
Repositories: 41
Profile: https://github.com/PRBonn

Photogrammetry & Robotics Lab at the University of Bonn

Citation (CITATION.cff)

cff-version: 1.2.1
preferred-citation:
  title: "KISS-ICP: In Defense of Point-to-Point ICP - Simple, Accurate, and Robust Registration If Done the Right Way"
  doi: "10.1109/LRA.2023.3236571"
  year: "2023"
  type: article
  journal: "IEEE Robotics and Automation Letters (RA-L)"
  url: https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf
  codeurl: https://github.com/PRBonn/kiss-icp
  authors:
    - family-names: Vizzo
      given-names: Ignacio
    - family-names: Guadagnino
      given-names: Tiziano
    - family-names: Mersch
      given-names: Benedikt
    - family-names: Wiesmann
      given-names: Louis
    - family-names: Behley
      given-names: Jens
    - family-names: Stachniss
      given-names: Cyrill

GitHub Events

Total

Create event: 40
Release event: 3
Issues event: 51
Watch event: 310
Delete event: 33
Issue comment event: 125
Push event: 129
Pull request review event: 59
Pull request review comment event: 18
Pull request event: 75
Fork event: 73

Last Year

Create event: 40
Release event: 3
Issues event: 51
Watch event: 310
Delete event: 33
Issue comment event: 125
Push event: 129
Pull request review event: 59
Pull request review comment event: 18
Pull request event: 75
Fork event: 73

Committers

Last synced: 10 months ago

All Time

Total Commits: 256
Total Committers: 44
Avg Commits per committer: 5.818
Development Distribution Score (DDS): 0.527

Past Year

Commits: 60
Committers: 14
Avg Commits per committer: 4.286
Development Distribution Score (DDS): 0.6

Top Committers

Name	Email	Commits
Ignacio Vizzo	i**o@g**m	121
Tiziano Guadagnino	3****o	38
Benedikt Mersch	m**h@i**e	22
Saurabh Gupta	s**2@g**m	10
Alexander Hans	a****s	6
Markus Pielmeier	m****i	4
Pavlo Bashmakov	1****e	4
shrijitsingh99	s**9@g**m	4
Patrick Roncagliolo	r**t@g**m	3
Luca Lobefaro	l**5@g**m	3
Hyunggi Chang	3****5	2
Nehil Danış	n**d@o**m	2
Sumanth Nagulavancha	8****7	2
Will Baker	w****r	2
kulfer80	1****0	2
kurthobein	1****n	2
ybrunken	1****n	2
Adraub	a**b@g**m	1
Alexander Berntsson	a**n@g**m	1
Cyrill Stachniss	c**s@i**e	1
qpc001	3****1	1
pierrebenet	p**6@g**m	1
ksuszka	k**a@g**m	1
Yue Pan	y**n@s**h	1
RyuYamamoto	r**o@t**p	1
Roni Emad	9****d	1
Quentin Torgerson	q**n@g**m	1
Meher Malladi	r**7@g**m	1
Maik	6****9	1
Leonardo Brizi	l**6@g**m	1
and 14 more...

Committer Domains (Top 20 + Academic)

igg.uni-bonn.de: 2 ulagbulag.io: 1 bandes-stor.ch: 1 tier4.jp: 1 student.ethz.ch: 1

Issues and Pull Requests

Last synced: 6 months ago

All Time

Total issues: 189
Total pull requests: 256
Average time to close issues: 27 days
Average time to close pull requests: 11 days
Total issue authors: 129
Total pull request authors: 53
Average comments per issue: 2.62
Average comments per pull request: 1.96
Merged pull requests: 201
Bot issues: 0
Bot pull requests: 0

Past Year

Issues: 32
Pull requests: 88
Average time to close issues: 14 days
Average time to close pull requests: 10 days
Issue authors: 30
Pull request authors: 16
Average comments per issue: 1.97
Average comments per pull request: 0.92
Merged pull requests: 63
Bot issues: 0
Bot pull requests: 0

View more stats

Top Authors

Issue Authors

nachovizzo (20)
kurthobein (4)
JereKnuutinen (4)
roncapat (3)
poodarchu (3)
ClementLeBihan (3)
bexcite (3)
rsc9421 (3)
jediofgever (3)
kanhw (3)
Sefilevy (2)
mzdaneshmand (2)
gongjun136 (2)
MblRobotics (2)
Genozen (2)

Pull Request Authors

nachovizzo (91)
tizianoGuadagnino (65)
benemer (51)
saurabh1002 (24)
l00p3 (11)
ahans (8)
ksuszka (7)
NehilDanis (4)
willcbaker (3)
kulfer80 (3)
roncapat (3)
karthikbolla (2)
bexcite (2)
02alexander (2)
LeoBrizi (2)

Top Labels

Issue Labels

help wanted (18) good first issue (11) enhancement (4) backlog (3) voxelization (2) question (1)

Pull Request Labels

core (49) python (46) ros (23) voxelization (18) build (9) enhancement (5) CI (3) documentation (2)

Packages

Total packages: 3
Total downloads:
- pypi 39,880 last-month

Total dependent packages: 4
(may contain duplicates)
Total dependent repositories: 1
(may contain duplicates)
Total versions: 92
Total maintainers: 1

pypi.org: kiss-icp

Simple yet effective 3D LiDAR-Odometry registration pipeline

Homepage: https://github.com/PRBonn/kiss-icp
Documentation: https://kiss-icp.readthedocs.io/
License: MIT License
Latest release: 1.2.3
published 12 months ago

Versions: 36
Dependent Packages: 4
Dependent Repositories: 1
Downloads: 39,880 Last month

Rankings

Stargazers count: 2.0%

Dependent packages count: 2.3%

Downloads: 2.8%

Forks count: 3.6%

Average: 6.5%

Dependent repos count: 21.7%

Maintainers (1)

nachovizzo

Last synced: 6 months ago

proxy.golang.org: github.com/prbonn/kiss-icp

Documentation: https://pkg.go.dev/github.com/prbonn/kiss-icp#section-documentation
License: mit
Latest release: v1.2.3
published 12 months ago

Versions: 28
Dependent Packages: 0
Dependent Repositories: 0

Rankings

Dependent packages count: 6.4%

Average: 6.7%

Dependent repos count: 6.9%

Last synced: 6 months ago

proxy.golang.org: github.com/PRBonn/kiss-icp

Documentation: https://pkg.go.dev/github.com/PRBonn/kiss-icp#section-documentation
License: mit
Latest release: v1.2.3
published 12 months ago

Versions: 28
Dependent Packages: 0
Dependent Repositories: 0

Rankings

Dependent packages count: 6.4%

Average: 6.7%

Dependent repos count: 6.9%

Last synced: 6 months ago

Dependencies

.github/workflows/cpp.yml actions

actions/checkout v3 composite
jwlawson/actions-setup-cmake v1.13 composite

.github/workflows/pre-commit.yml actions

actions/cache v1 composite
actions/checkout v3 composite
actions/setup-python v4 composite
pre-commit/action v3.0.0 composite

.github/workflows/pypi.yml actions

actions/checkout v3 composite
actions/download-artifact v3 composite
actions/upload-artifact v3 composite
pypa/cibuildwheel v2.12.0 composite
pypa/gh-action-pypi-publish release/v1 composite

.github/workflows/python.yml actions

actions/checkout v3 composite
actions/setup-python v3 composite

.github/workflows/ros.yml actions

actions/checkout v3 composite
jwlawson/actions-setup-cmake v1.13 composite

python/pyproject.toml pypi

natsort *
numpy *
plyfile *
pydantic <2
pyquaternion *
rich *
tqdm *
typer [all]>=0.6.0