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kiss-icp

PRBonnMIT更新放缓

一套开箱即用的 LiDAR 里程计与建图管线，基于点到点 ICP 实现，无需调参即可在机器人上稳定运行，支持 ROS/ROS2。

A LiDAR odometry pipeline that just works

v1.3.0发布于 2026-04-26 08:43 UTC2,371star461fork同步于 2026-11-07 07:32 UTC
LiDAR 里程计SLAM点云配准ICP机器人定位
对比 GitHub 官网3d-mappingicplidar-slamroboticsros

怎么上手

由 README 提炼，执行前请确认
原文 
pip install kiss-icp
kiss_icp_pipeline --help
硬件要求按 README 说明

README 未说明具体显存、CPU 或 GPU 型号要求；仅标注支持 Linux、Windows 与 macOS。

下载：源码 zip·GitHub Releases（安装包）本站不镜像安装包

项目说明

由 README 自动翻译提炼
没人工点评？写下你的经验

一个几乎不用调参就能跑通的 LiDAR 里程计流水线，适合快速搭建激光雷达定位基线

一套开箱即用的 LiDAR 里程计与建图管线，基于点到点 ICP 实现，无需调参即可在机器人上稳定运行，支持 ROS/ROS2。

核心能力

  • 无需调参即可在多数场景运行 LiDAR 里程计
  • 提供 pip 安装的 Python 包与 kiss_icp_pipeline 命令行入口
  • 附带 ROS 2 封装，可用 colcon 编译为 kiss_icp 包
  • 基于点对点 ICP 的配准方案，论文发表于 RA-L

容易踩的坑

ROS 1 已废弃且不再官方支持，需要 ROS 1 只能用 v0.3.0；ROS 2 需单独克隆仓库并用 colcon 编译，不是 pip 安装就能用；运行前需自备 LiDAR 数据，README 未说明内置数据集。

内容由模型根据 README 生成，可能不完整或不准确，以官方文档为准。看原文 README

最近发版

5 个版本v1.3.0
全部 release
  1. v1.3.0最新正式版2026-04-26 · 2026-04-26 08:43 UTC

    New release after almost a year, to pick up especially the change to version pinning in the python package. ARM systems should also now work for pip install.

    What's Changed

    New Contributors

    Full Changelog: https://github.com/PRBonn/kiss-icp/compare/v1.2.3...v1.3.0

  2. v1.2.32025-03-17 · 2025-03-17 08:38 UTC
    查看更新说明

    What's Changed

    New Contributors

    Full Changelog: https://github.com/PRBonn/kiss-icp/compare/v1.2.2...v1.2.3

  3. v1.2.22025-01-30 · 2025-01-30 12:19 UTC
    查看更新说明

    Finally fix deskewing and the kernel threshold

    What's Changed

    Full Changelog: https://github.com/PRBonn/kiss-icp/compare/v1.2.1...v1.2.2

  4. v1.2.12025-01-14 · 2025-01-14 15:18 UTC
    查看更新说明

    What's Changed

    Full Changelog: https://github.com/PRBonn/kiss-icp/compare/v1.2.0...v1.2.1

  5. v1.2.02025-01-09 · 2025-01-09 15:52 UTC
    查看更新说明

    Highlight

    Finally deskew in the proper reference frame, results improve slightly overall. Fix memory allocations, added a proper preprocessing pipeline with control on the number of threads

    What's Changed

    New Contributors

    Full Changelog: https://github.com/PRBonn/kiss-icp/compare/v1.1.0...v1.2.0

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    README 原文

    未翻译
    在 GitHub 打开

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

    Install

    pip install kiss-icp

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

    kiss_icp_pipeline --help

    out

    For advanced instructions on the Python package please see this README

    ROS support

    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 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!

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