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kiss_icp_kitti

A helper node to run KISS-ICP on ROS for those who are still obsessed with the dataset

https://github.com/nachovizzo/kiss_icp_kitti

Science Score: 57.0%

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
  • ○
    Institutional organization owner
  • ○
    JOSS paper metadata
  • ○
    Scientific vocabulary similarity
    Low similarity (10.1%) to scientific vocabulary
Last synced: 7 months ago · JSON representation ·

Repository

A helper node to run KISS-ICP on ROS for those who are still obsessed with the dataset

Basic Info
  • Host: GitHub
  • Owner: nachovizzo
  • License: mit
  • Language: C++
  • Default Branch: main
  • Size: 10.7 KB
Statistics
  • Stars: 11
  • Watchers: 2
  • Forks: 2
  • Open Issues: 0
  • Releases: 0
Created about 3 years ago · Last pushed almost 3 years ago
Metadata Files
Readme License Citation

README.md

KISS-ICP KITTI-ROS Wrapper

https://user-images.githubusercontent.com/21349875/214578180-b1d2431c-8fff-440e-aa6e-99a1d85989b5.mp4

Why are you obsessed with KITTI?

KITTI was not originally recorded in a rosbag format. Besides this fact, it has been 1 decade since the data was released. Why are you trying so hard to use it with ROS? ROS is the ROBOT operating system, it's for ROBOTS not to run experiments. If you want to change the KISS-ICP code and experiment with KITTI, just use the ORIGINAL dataset. Why even bother converting all the data to ROS format!?

Because this makes not sense at all, I removed all ROS-KITTI support from the main branch of KISS-ICP. If you are still obsessed with doing this type of experimentation the go ahead, and clone this repository. But I'm not mantaining it. Why don't you just pip install kiss-icp and enjoy a nice python/notebook experimnetation framewrok? It's much easier. Leve ROS for robots!

How to build

sh cd ~/catkin_ws/ git clone https://github.com/PRBonn/kiss-icp # <- Optional if you want to change the code git clone https://github.com/nacho.vizzo/kiss-icp-kitti catkin build && source devel/setup.bash

How to run

sh roslaunch kiss_icp_kitti kitti.launch bagfile:=<path_to_rosbag>

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 = {1-8}, doi = {10.1109/LRA.2023.3236571}, volume = {8}, number = {2}, year = {2023}, codeurl = {https://github.com/PRBonn/kiss-icp}, }

Related ISSUES

  • https://github.com/PRBonn/kiss-icp/issues/79
  • https://github.com/PRBonn/kiss-icp/issues/67
  • https://github.com/PRBonn/kiss-icp/issues/166

Owner

  • Name: Ignacio Vizzo
  • Login: nachovizzo
  • Kind: user
  • Location: Bonn, Germany
  • Company: University of Bonn

Ph.D. Candidate in Robotics

Citation (CITATION.cff) 

cff-version: 1.2.0
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
  • Watch event: 4
  • Fork event: 1
Last Year
  • Watch event: 4
  • Fork event: 1

Committers

Last synced: 8 months ago

All Time
  • Total Commits: 2
  • Total Committers: 1
  • Avg Commits per committer: 2.0
  • Development Distribution Score (DDS): 0.0
Past Year
  • Commits: 0
  • Committers: 0
  • Avg Commits per committer: 0.0
  • Development Distribution Score (DDS): 0.0
Top Committers
Name Email Commits
Ignacio Vizzo i****o@g****m 2

Issues and Pull Requests

Last synced: 8 months ago

All Time
  • Total issues: 1
  • Total pull requests: 0
  • Average time to close issues: 32 minutes
  • Average time to close pull requests: N/A
  • Total issue authors: 1
  • Total pull request authors: 0
  • Average comments per issue: 1.0
  • Average comments per pull request: 0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 0
  • Pull requests: 0
  • Average time to close issues: N/A
  • Average time to close pull requests: N/A
  • Issue authors: 0
  • Pull request authors: 0
  • Average comments per issue: 0
  • Average comments per pull request: 0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
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Top Authors
Issue Authors
  • andre-nguyen (1)
Pull Request Authors
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