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GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2025)
| Date | Stars |
|---|---|
| 2026-07-24 | 694 |
| 2026-07-25 | 695 |
| 2026-07-28 | 695 |
| 2026-07-30 | 695 |
| 2026-08-06 | 695 |
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<div align="center">
<h1>GenZ-ICP</h1>
<a href="https://github.com/cocel-postech/genz-icp/tree/master/cpp/genz_icp"><img src="https://img.shields.io/badge/-C++-blue?logo=cplusplus" /></a>
<a href="https://github.com/cocel-postech/genz-icp/tree/master/python/genz_icp"><img src="https://img.shields.io/badge/Python-3670A0?logo=python&logoColor=ffdd54" /></a>
<a href="https://github.com/cocel-postech/genz-icp/tree/master/ros"><img src="https://img.shields.io/badge/ROS1-blue" /></a>
<a href="https://github.com/cocel-postech/genz-icp/tree/master/ros"><img src="https://img.shields.io/badge/ROS2-blue" /></a>
<a href=""><img src="https://img.shields.io/badge/Linux-FCC624?logo=linux&logoColor=black" /></a>
<a href="https://github.com/cocel-postech/genz-icp/blob/master/LICENSE"><img src="https://img.shields.io/badge/License-MIT-green.svg" alt="License: MIT" /></a>
<a href="https://ieeexplore.ieee.org/document/10753079"><img src="https://img.shields.io/badge/DOI-10.1109/LRA.2024.3498779-004088.svg"/>
<br />
<br />
<a href="https://www.youtube.com/watch?v=EyTJbdC_AA4">Demo</a>
<span> • </span>
<a href="https://www.youtube.com/watch?v=CU6aAiTIO6Y">Video</a>
<span> • </span>
<a href="https://github.com/cocel-postech/genz-icp/blob/master/README.md">Install</a>
<span> • </span>
<a href="https://github.com/cocel-postech/genz-icp/tree/master/ros">ROS</a>
<span> • </span>
<a href="https://arxiv.org/abs/2411.06766">Paper</a>
<span> • </span>
<a href="https://github.com/cocel-postech/genz-icp/issues">Contact Us</a>
<br />
<br />
<p align="center"><img src=pictures/GenZ-ICP.gif alt="animated" width="500" /></p>
<p align="center">
<strong>(May 19, 2026)</strong> pip installation is now live:
<br/>
<a href="https://pypi.org/project/genz-icp/"><img src="https://readme-typing-svg.demolab.com?background=0D1117&color=22C55E&font=Fira+Code&size=18&duration=2500&pause=800¢er=true&vCenter=true&width=320&height=30&lines=%24+pip+install+genz-icp" alt="pip install genz-icp"/></a>
</p>
[GenZ-ICP][arXivlink] is a **Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting**
</div>
[arXivlink]: https://arxiv.org/abs/2411.06766
## Install
```sh
pip install genz-icp
```
Next, follow the instructions on how to run the system by typing:
```sh
genz_icp_pipeline --help
```
This should print a help message with supported dataloaders and options.
For advanced instructions on the Python package please see [this README](https://github.com/cocel-postech/genz-icp/blob/master/python/README.md)
## ROS support
<details>
<summary>ROS 1</summary>
### Build
```sh
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/cocel-postech/genz-icp.git
cd ..
catkin build genz_icp --cmake-args -DCMAKE_BUILD_TYPE=Release
source ~/catkin_ws/devel/setup.bash
```
### Run with pre-tuned config
```sh
roslaunch genz_icp odometry.launch topic:=<topic_name> config_file:=<config_file_name>.yaml
rosbag play <rosbag_file_name>.bag
```
### Run with only topic
```sh
roslaunch genz_icp odometry.launch topic:=<topic_name>
rosbag play <rosbag_file_name>.bag
```
Examples and download links for demo datasets are available in [ros/README.md](https://github.com/cocel-postech/genz-icp/blob/master/ros/README.md).
Parameter tuning guide: [ros/config/parameter_tuning_guide.md](https://github.com/cocel-postech/genz-icp/blob/master/ros/config/parameter_tuning_guide.md)
</details>
<details>
<summary>ROS 2</summary>
### Build
```sh
mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone https://github.com/cocel-postech/genz-icp.git
cd ..
colcon build --packages-select genz_icp --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
source ~/colcon_ws/install/setup.bash
```
### Run with pre-tuned config
```sh
ros2 launch genz_icp odometry.lauExcerpt of 6,889 characters
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:62f54028370c26fb, topic:robotics, topic:ros, topic:ros2