There are a number of additional ways you can about this that come to mind:
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use https://github.com/erichVK5/translate2geda to convert the gerber into a gEDA PCB format footprint that can then be imported into kicad as a footprint element. The same issues apply with translate2geda having to guess what features are pins or pads or tracks. It may do a better job, or worse, than gerber viewer.
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there is a version of the gEDA project’s gerber viewer, gerbv, that can export a gerber as dxf, which may give better results if you can then import dxf: https://github.com/alyoshin/gerbv-dxf
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import the altium project to a kicad compatible format, using: https://github.com/thesourcerer8/altium2kicad
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import the altium project to a gEDA compatible format, using: https://github.com/pcjc2/openaltium then export to kicad from pcb-rnd, a fork of gEDA’s PCB layout editor which supports kicad import/export: http://repo.hu/projects/pcb-rnd/
See also: Import Gerber into a non routing layer as template
Cheers,
Erich.