KISS-Matcher

Keep it simple, make it scalable.

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📦 Installation

All installations are set up automatically in an out-of-the-box manner.

Run the command below:

git clone https://github.com/MIT-SPARK/KISS-Matcher.git
cd KISS-Matcher
make deps

C++

Run the command below. That's it.

git clone https://github.com/MIT-SPARK/KISS-Matcher.git
cd KISS-Matcher
make cppinstall

Q. How doest it work?

The cppinstall command is encapsulated in the Makefile. and cppinstall calls deps to automatically install the dependencies. In addition, KISS-Matcher requires ROBIN. But it's also automatically linked via robin.cmake

After installation, kiss_matcher and robin are placed in the installation directory using the following commands in the Makefile, respectively: @$(SUDO) cmake --install cpp/kiss_matcher/build @$(SUDO) cmake --install cpp/kiss_matcher/build/_deps/robin-build

Example codes

We provide plentiful scalable registration examples. Please visit our cpp/example directory and follow the instructions.

How To Use in Other Packages in C++?

See CMakeLists.txt in cpp/examples.

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Python

The prerequisites for Pybind11 are just the minimum requirements as follows:"

pip3 install --upgrade pip setuptools wheel scikit-build-core ninja cmake build

And then, run the following command:

pip3 install -e python/

We also provide out-of-the-box python registration examples. Go to python directory and follow the instructions.

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Citation

This study is the culmination of my continuous research since my graduate school years. If you use this library for any academic work, please cite our original paper, and refer to other papers that are highly relevant to KISS-Matcher.

See bibtex lists

 @inproceedings{lim2025icra-KISSMatcher,
   title={{KISS-Matcher: Fast and Robust Point Cloud Registration Revisited}},
   author={Lim, Hyungtae and Kim, Daebeom and Shin, Gunhee and Shi, Jingnan and Vizzo, Ignacio and Myung, Hyun and Park, Jaesik and Carlone, Luca},
   booktitle={Proc. IEEE Int. Conf. Robot. Automat.},
   year={2025},
   codeurl   = {https://github.com/MIT-SPARK/KISS-Matcher},
   note   = {Accepted. To appear}
 }

 @article{Lim24ijrr-Quatropp,
   title={{Quatro++: R}obust global registration exploiting ground segmentation for loop closing in {LiDAR SLAM}},
   author={Lim, Hyungtae and Kim, Beomsoo and Kim, Daebeom and Mason Lee, Eungchang and Myung, Hyun},
   journal={Int. J. Robot. Res.},
   pages={685--715},
   year={2024},
   doi={10.1177/02783649231207654}
 }

@inproceedings{Lim22icra-Quatro,
    title={A single correspondence is enough: Robust global registration to avoid degeneracy in urban environments},
    author={Lim, Hyungtae and Yeon, Suyong and Ryu, Soohyun and Lee, Yonghan and Kim, Youngji and Yun, Jaeseong and Jung, Euigon and Lee, Donghwan and Myung, Hyun},
    booktitle={Proc. IEEE Int. Conf. Robot. Automat.},
    pages={8010--8017},
    year={2022}
}

@InProceedings{Shi21icra-robin,
    title={{ROBIN:} a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants},
    author={J. Shi and H. Yang and L. Carlone},
    booktitle={Proc. IEEE Int. Conf. Robot. Automat.},
    note = {arXiv preprint: 2011.03659, \linkToPdf{https://arxiv.org/pdf/2011.03659.pdf}},
    pdf="https://arxiv.org/pdf/2011.03659.pdf",
    year={2021}
}

@article{Yang20tro-teaser,
    title={{TEASER: Fast and Certifiable Point Cloud Registration}},
    author={H. Yang and J. Shi and L. Carlone},
    journal={IEEE Trans. Robot.},
    volume = 37,
    number = 2,
    pages = {314--333},
    note = {extended arXiv version 2001.07715 \linkToPdf{https://arxiv.org/pdf/2001.07715.pdf}},
    pdf={https://arxiv.org/pdf/2001.07715.pdf},
    Year = {2020}
}

@inproceedings{Zhou16eccv-FGR,
    title={Fast global registration},
    fullauthor={Zhou, Qian-Yi and Park, Jaesik and Koltun, Vladlen},
    author={Q.Y. Zhou and J. Park and V. Koltun},
    booktitle={Proc. Eur. Conf. Comput. Vis.},
    pages={766--782},
    year={2016}
}

Contributing

Like KISS-ICP, we envision KISS-Matcher 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!

Acknowledgements

We sincerely express our gratitude to Prof. Cyrill Stachniss’ group at the University of Bonn for their generosity in allowing us to use the term KISS. In particular, I (Hyungtae Lim) personally deeply appreciate Tizziano Guadagnino, Benedikt Mersch, Louis Wiesmann, and Jens Behley for their kind support and collaboration during my time at the University of Bonn. Without them, KISS-Matcher would not exist today. A special thanks goes to my co-author, Nacho, for taking the time to thoroughly teach me modern C++ and modern CMake. We would also like to express our gratitude to Kenji Koide for his exceptional effort in open-sourcing the wonderful open source, small_gicp, which plays a crucial role in enhancing the efficiency of our pipeline. His dedication to the research community continues to inspire and enable advancements in the field.

Again, their generosity, expertise, and contributions have greatly enriched our work, and we are truly grateful for their support.