Machine-learning models based on a point-cloud representation of a physical object are ubiquitous in scientific applications and particularly well-suited to the atomic-scale description of molecules and materials. Among the many different approaches that have been pursued, the description of local atomic environments in terms of their discretized neighbor densities has been used widely and very successfully. We propose a novel density-based method, which involves computing "Wigner kernels." These are fully equivariant and body-ordered kernels that can be computed iteratively at a cost that is independent of the basis used to discretize the density and grows only linearly with the maximum body-order considered. Wigner kernels represent the infinite-width limit of feature-space models, whose dimensionality and computational cost instead scale exponentially with the increasing order of correlations. We present several examples of the accuracy of models based on Wigner kernels in chemical applications, for both scalar and tensorial targets, reaching an accuracy that is competitive with state-of-the-art deep-learning architectures. We discuss the broader relevance of these findings to equivariant geometric machine-learning.