kiss_icp_kitti's Introduction

KISS-ICP KITTI-ROS Wrapper

kiss_icp_ros.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

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

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.

@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},
}