koide3/fast_gicp

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1686 stars · 372 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A C++ library of fast GICP-based point cloud registration algorithms, including multi-threaded GICP, voxelized GICP (VGICP), and CUDA-accelerated VGICP and NDT implementations. It provides PCL-compatible registration interfaces plus Python bindings, allowing drop-in replacement for PCL's GICP.

Use cases

• align two 3d point clouds fast
• scan matching for lidar slam
• replace pcl gicp with a faster implementation
• gpu-accelerated point cloud registration
• register point clouds from python
• ndt scan matching for odometry
• voxelized gicp for large point clouds

When to choose

• you need high-throughput point cloud registration with PCL-compatible interfaces
• you want CUDA-accelerated VGICP or NDT for real-time robotics
• you need Python bindings for point cloud alignment
• you are building SLAM or odometry pipelines on Linux

When to avoid

• you want the fastest, most lightweight option - the author recommends small_gicp instead
• you need Windows support or minimal dependencies
• you only need simple ICP without covariance-based registration

Facets

library · maturity maintenance

computer-vision image-processing math sdk robotics computer-vision autonomous-vehicles cpp python point-cloud-registration gicp icp scan-matching cuda pcl ndt 3d-slam lidar algorithms linux macos gpu ros

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