KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way

Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion estimation process, we move in the opposite direction. By removing a majority of parts and focusing on the core elements, we obtain a surprisingly effective system that is simple to realize and can operate under various environmental conditions using different LiDAR sensors. Our odometry estimation approach relies on point-to-point ICP combined with adaptive thresholding for correspondence matching, a robust kernel, a simple but widely applicable motion compensation approach,…

• DF
  Deutsche Forschungsgemeinschaft
• KA
  Korea Advanced Institute of Science and Technology