PRBonn/kiss-icp

A LiDAR odometry pipeline that just works

What it solves

KISS-ICP provides a LiDAR Odometry pipeline that is designed to work across most scenarios without requiring manual parameter tuning. It simplifies the process of estimating a vehicle's position and orientation based on LiDAR scans.

How it works

The project implements a robust version of the point-to-point Iterative Closest Point (ICP) registration algorithm, which aligns consecutive LiDAR scans to determine the movement of the sensor.

Who it’s for

It is intended for robotics developers and researchers who need a reliable, "out-of-the-box" LiDAR odometry solution for autonomous systems.

Highlights

  • Zero-tuning: Works on most cases without needing to adjust parameters.
  • Cross-platform: Supports Linux, Windows, and macOS.
  • ROS 2 Integration: Includes a wrapper for seamless integration with the Robot Operating System (ROS 2).
  • Easy Installation: Available as a Python package via pip.

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