LiDAR Odometry - 5 Minutes with Cyrill

LiDAR Odometry explained in 5 minutes using KISS-ICP as an example
Code: github.com/PRBonn/kiss-icp
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2022
Credits:
Video by Cyrill Stachniss
Thanks to the KISS-ICP developers Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Louis Wiesmann, and Jens Behley
Thanks to Igor Bogoslavskyi and Olga Vysotska
Intro music by The Brothers Records

[@raulgana]

At startup, it gave an error. I updated the firewood and it helped me)

[@landlordize]

Really good video. I find these 5 minutes are a great way to refresh material. It is extremely cool that the KISS-ICP developers decided to release their code, especially in such a polished manner. Too much research code is left to rot on university hard drives :(

[@CyrillStachniss]

Thanks

[@markusbuchholz3518]

Thank you so much for sharing exceptional content and research. The effort is really impressive and have remarkable impact for whole robotics domain and autonomous vehicles. I love this channel and especially the high quality of the content. Great also that the channel is shared among the other team members. Good luck. Have a nice day!

[@CyrillStachniss]

Thanks!

[@wengzhiyong]

Cannot wait to try KISS-ICP with point cloud from livox HAP lidar, which has FOV 120

[@Shaharsarshalom1]

Thank you so much for your talk, These series are great.

[@noodlewhatelse236]

Auf den Punkt in 5 Minuten!

[@nathirrawashdeh8507]

Thank you for the explanation.

[@ilovekaru3331]

It really works, thank you.

[@CyrillStachniss]

Great , happy to hear that!

[@morrobotik8105]

WOW thank you so much Sir.

[@ancientreezhang6679]

Hi Prof Stachniss, Thank you for sharing the novel KISS-ICP! I wonder if KISS-ICP works fine as well for 2D laser scanner.

[@zuhair95]

+

[@CyrillStachniss]

Yes it does, out of the box, although not designed for it 🙃

[@iulianfilip4495]

Really nice video. Right now I am researching about the lidar SLAM algorithms. Especially for the tunnel environment where it is dark and not manny features are present. I am wondering about the performance of the KISS-ICP in such environment. Also in the paper there is comparison of KISS-ICP with other state-of-the-art algorithms. I am wondering why algorithms such as Fast-Lio2, LeGO-LOAM, SC-LeGO-LOAM, LIO-SAM were not included in the comparison? Thank you

[@tonya9376]

I'm just making assumptions here. KISS-ICP is a LiDAR Odometry method, which only takes LiDAR's point cloud as inputs, maybe that's why Fast-LIO and LIO-SAM are not counted as comparisons since they are LiDAR-Inertial methods. SC-LeGO-LOAM contains a global point cloud descriptor to perform loop closure and backend optimization, and KISS-ICP mainly focuses on frame-to-frame alignment.

[@iulianfilip4495]

I see, thank you for your input

[@gdmsave]

Очень интересно)

[@HerrS76]

This is great! I figure that, at 40Hz processing frequency, a moving environment won't affect the algorithm too much... But have you been conducting tests in highly dynamic environments? The paper mentions a few standard data sets you tested on, but I'm not familiar with these. Would be great to get a quick idea how dynamic environments can get for this to still work.

[@CyrillStachniss]

It works quite well. Simply run it on your dynamics ans see how it works for you - running it ist faster than me typing in the dataset names on my smartphone 😉

[@user-zi1dn4nf3t]

Hey cyrill any lidar odometry which we can use for 2d lidar

[@CyrillStachniss]

Kiss-icp should also work in 2d