KISS-Matcher: Fast and Robust Point Cloud Registration Revisited

Hyungtae Lim, Daebeom Kim, Gunhee Shin, Jingnan Shi, Ignacio Vizzo +3 more
9/23/2024
cs.CVcs.RO

Official code: MIT-SPARK/KISS-Matcher (732 stars, MIT, last commit 2025-12-14). 1 more implementation below.

Abstract

While global point cloud registration systems have advanced significantly in all aspects, many studies have focused on specific components, such as feature extraction, graph-theoretic pruning, or pose solvers. In this paper, we take a holistic view on the registration problem and develop an open-source and versatile C++ library for point cloud registration, called KISS-Matcher. KISS-Matcher combines a novel feature detector, Faster-PFH, that improves over the classical fast point feature histogram (FPFH). Moreover, it adopts a $k$-core-based graph-theoretic pruning to reduce the time complexity of rejecting outlier correspondences. Finally, it combines these modules in a complete, user-friendly, and ready-to-use pipeline. As verified by extensive experiments, KISS-Matcher has superior scalability and broad applicability, achieving a substantial speed-up compared to state-of-the-art outlier-robust registration pipelines while preserving accuracy. Our code will be available at https://github.com/MIT-SPARK/KISS-Matcher.

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Code Implementations(2)

MIT-SPARK/KISS-MatcherOfficial100%
MIT

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

73285C++, CMakeSep 10, 202410 months agoMIT
3d-mappingfaster-pfhfeature-extractionfeature-matchingfpfh+9 more
szobov/kriss_matcherCommunity66%
RustApache-2.0

Rust implementation of "KISS-Matcher: Fast and Robust Point Cloud Registration Revisited"

212Rust, PythonOct 17, 20241 years agoApache-2.0

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Cite this paper

@article{lim2024kissmatcher,
  title  = {KISS-Matcher: Fast and Robust Point Cloud Registration Revisited},
  author = {Hyungtae Lim and Daebeom Kim and Gunhee Shin and Jingnan Shi and Ignacio Vizzo and Hyun Myung and Jaesik Park and Luca Carlone},
  year   = {2024},
  eprint = {2409.15615},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2409.15615v3}
}

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