SLAM十四讲之第七讲：3D-3D ICP求解

第七讲：视觉里程计3

4 3D - 3D ICP

​ 一组配对好的3D点（例如我们对两幅RGB-D图像进行了匹配)：
P = { p 1 , ⋯   , p n } , P ′ = { p 1 ′ , ⋯   , p n ′ } \boldsymbol{P}=\left\{\boldsymbol{p}_1, \cdots, \boldsymbol{p}_n\right\}, \quad \boldsymbol{P}^{\prime}=\left\{\boldsymbol{p}_1^{\prime}, \cdots, \boldsymbol{p}_n^{\prime}\right\} P={p1​,⋯,pn​},P′={p1′​,⋯,pn′​}
​ 求解一个欧式变换R，t
$$\forall i,{\mathbf{p}}_i=\mathbf{R}{\mathbf{p}}_i^{\prime }+\mathbf{t}$$
​ ICP，即迭代最近点(Iterative Closest Point)求解。3D-3D位姿估计问题中并没有出现相机模型，也就是说，仅考虑两组3D点之间的变换时，和相机并没有关系。因此，在激光SLAM中也会碰到ICP,不过由于激光数据特征不够丰富，我们无从知道两个点集之间的匹配关系，只能认为距离最近的两个点为同一个，所以这个方法称为迭代最近点。

​ 在V-SLAM中，我们可以很容易得到一组匹配好的特征点。在RGB-D SLAM中，可以用这种方式估计相机位姿。

​ ICP的求解也分为两种方式：

​ 1. 利用线性代数的求解（主要是SVD)

​ 2. 利用非线性优化方式的求解（类似于BA)。下面分别进行介绍。

4.1 SVD分解

​ 我们要求最优解，还是要构建误差函数公式，利用非线性最小二乘法来求解。当然，SVD中利用了线性方程组的化简技巧，不会像第二种方法一样直接去求导。

​ 第i组匹配的特征点误差为：
$${\mathbf{e}}_i={\mathbf{p}}_i-\left(\mathbf{R}{\mathbf{p}}_i^{\prime }+\mathbf{t}\right)$$
​ 构建最小二乘问题，求出使得平方和最小的位姿T：
$$\underset{\mathbf{R},t}{\min }\frac{1}{2}\sum _{i=1}^n{\Vert \left({\mathbf{p}}_i-\left(\mathbf{R}{\mathbf{p}}_i{}^{\prime }+\mathbf{t}\right)\right)\Vert }_2^2$$
​ 基于SVD的ICP法定义了关于求解特征点组的质心(即图像的位置质心)：
$$\mathbf{p}=\frac{1}{n}\sum _{i=1}^n\left({\mathbf{p}}_i\right),{\mathbf{p}}^{\prime }=\frac{1}{n}\sum _{i=1}^n\left({\mathbf{p}}_i^{\prime }\right)$$
​ 对上面最小二乘法进行推导，实际上就是一个去质心的过程
$$\begin{array}{rl}\frac{1}{2}\sum _{i=1}^n{\Vert {\mathbf{p}}_i-\left(\mathbf{R}{\mathbf{p}}_i{}^{\prime }+\mathbf{t}\right)\Vert }^2=& \frac{1}{2}\sum _{i=1}^n{\Vert {\mathbf{p}}_i-\mathbf{R}{\mathbf{p}}_i{}^{\prime }-\mathbf{t}-\mathbf{p}+\mathbf{R}{\mathbf{p}}^{\prime }+\mathbf{p}-\mathbf{R}{\mathbf{p}}^{\prime }\Vert }^2\\ =& \frac{1}{2}\sum _{i=1}^n{\Vert \left({\mathbf{p}}_i-\mathbf{p}-\mathbf{R}\left({\mathbf{p}}_i{}^{\prime }-{\mathbf{p}}^{\prime }\right)\right)+\left(\mathbf{p}-\mathbf{R}{\mathbf{p}}^{\prime }-\mathbf{t}\right)\Vert }^2\\ =& \frac{1}{2}\sum _{i=1}^n({\Vert {\mathbf{p}}_i-\mathbf{p}-\mathbf{R}\left({\mathbf{p}}_i{}^{\prime }-{\mathbf{p}}^{\prime }\right)\Vert }^2+{\Vert \mathbf{p}-\mathbf{R}{\mathbf{p}}^{\prime }-\mathbf{t}\Vert }^2+\\ & 2{\left({\mathbf{p}}_i-\mathbf{p}-\mathbf{R}\left({\mathbf{p}}_i{}^{\prime }-{\mathbf{p}}^{\prime }\right)\right)}^{\mathrm{T}}\left(\mathbf{p}-\mathbf{R}{\mathbf{p}}^{\prime }-\mathbf{t}\right)).\end{array}$$
​ 后面一项求和之后为0（还没有推出），所以我们就可以简化得到下面这个式子
$$\underset{\mathbf{R},t}{\min }J=\frac{1}{2}\sum _{i=1}^n{\Vert {\mathbf{p}}_i-\mathbf{p}-\mathbf{R}\left({\mathbf{p}}_i{}^{\prime }-{\mathbf{p}}^{\prime }\right)\Vert }^2+{\Vert \mathbf{p}-\mathbf{R}{\mathbf{p}}^{\prime }-\mathbf{t}\Vert }^2$$
​ 我们把它写成去质心的形式，即（而且上面式子可以先求左边最小值，且令右边式子为0，这样子和也是求得最小值情况下的位姿T。这里主要是平方项，最小就是0，而且左边式子还与t无关，所以这样子求解方程是没有问题的。）：

$${\mathbf{R}}^{\ast }=\arg \underset{\mathbf{R}}{\min }\frac{1}{2}\sum _{i=1}^n{\Vert {\mathbf{q}}_i-\mathbf{R}{\mathbf{q}}_i^{\prime }\Vert }^2$$

$$t^{\ast }=p-R{p}^{\prime }$$

​ 注意，q是去质心坐标
$${\mathbf{q}}_i={\mathbf{p}}_i-\mathbf{p},{\mathbf{q}}_i^{\prime }={\mathbf{p}}_i^{\prime }-{\mathbf{p}}^{\prime }$$
​ 根据上面的推理，我们只需要优化R那个等式
$$\frac{1}{2}\sum _{i=1}^n{\Vert {\mathbf{q}}_i-\mathbf{R}{\mathbf{q}}_i^{\prime }\Vert }^2=\frac{1}{2}\sum _{i=1}^n\left({\mathbf{q}}_i^{\mathrm{T}}{\mathbf{q}}_i+{\mathbf{q}}_i^{\prime \mathrm{T}}{\mathbf{R}}^{\mathrm{T}}\mathbf{R}{\mathbf{q}}_i^{\prime }-2{\mathbf{q}}_i^{\mathrm{T}}\mathbf{R}{\mathbf{q}}_i^{\prime }\right)$$
​ 展开后我们就会发现，其中前面两项与R无关（**RR^T = I正交矩阵的特点），那么我们就只需要优化下面的式子
$$\sum _{i=1}^n-{\mathbf{q}}_i^{\mathrm{T}}\mathbf{R}{\mathbf{q}}_i^{\prime }=\sum _{i=1}^n-\mathrm{tr}\left(\mathbf{R}{\mathbf{q}}_i^{\prime }{\mathbf{q}}_i^{\mathrm{T}}\right)=-\mathrm{tr}\left(\mathbf{R}\sum _{i=1}^n{\mathbf{q}}_i^{\prime }{\mathbf{q}}_i^{\mathrm{T}}\right)$$
​ 这个时候就用到SVD分解**了。其中，∑为奇异值组成的对角矩阵，对角线元素从大到小排列，而U和V为对角矩阵。W是3*3矩阵
$$\mathbf{W}=\sum _{i=1}^n{\mathbf{q}}_i{\mathbf{q}}_i^{\prime \mathrm{T}}$$

$$\mathbf{W}=\mathbf{U}\mathbf{\Sigma }{\mathbf{V}}^{\mathrm{T}}$$

​ 最终，R和t的计算式子如下
$$\mathbf{R}=\mathbf{U}{\mathbf{V}}^{\mathrm{T}}$$

$$t^{\ast }=p-R{p}^{\prime }$$

4.2 非线性优化

​ 目标函数：
$$\underset{\mathbf{\xi }}{\min }=\frac{1}{2}\sum _{i=1}^n{\Vert \left({\mathbf{p}}_i-\exp \left({\mathbf{\xi }}^{\wedge }\right){\mathbf{p}}_i^{\prime }\right)\Vert }_2^2$$

$$\frac{\partial \mathbf{e}}{\partial \delta \mathbf{\xi }}=-{\left(\exp \left({\mathbf{\xi }}^{\wedge }\right){\mathbf{p}}_i^{\prime }\right)}^{\odot }$$

4.3 ICP总结

​ ICP问题存在唯一解或无穷多解的情况。在唯一解的情况下，只要能找到极小值解，这个极小值就是全局最优值（因此不会遇到局部极小而非全局最小的情况）。这也意味着ICP求解可以任意选定初始值。这是已匹配点时求解ICP的一大好处。

4.4 实验程序

• pose_estimation_ 3 d 3 d

#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <Eigen/SVD>
#include <g2o/core/base_vertex.h>
#include <g2o/core/base_unary_edge.h>
#include <g2o/core/block_solver.h>
#include <g2o/core/optimization_algorithm_gauss_newton.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
#include <g2o/solvers/dense/linear_solver_dense.h>
#include <chrono>
#include <sophus/se3.hpp>

using namespace std;
using namespace cv;

// 1. 寻找特征点并匹配
void find_feature_matches(
  const Mat &img_1, const Mat &img_2,
  std::vector<KeyPoint> &keypoints_1,
  std::vector<KeyPoint> &keypoints_2,
  std::vector<DMatch> &matches);

// 2. 像素坐标转相机归一化坐标
Point2d pixel2cam(const Point2d &p, const Mat &K);

// 3. ICP求解最优位姿T
void pose_estimation_3d3d(
  const vector<Point3f> &pts1,
  const vector<Point3f> &pts2,
  Mat &R, Mat &t
);

// 4. BA优化  最小化重投影  PnP
void bundleAdjustment(
  const vector<Point3f> &points_3d,
  const vector<Point3f> &points_2d,
  Mat &R, Mat &t
);

// 5. 顶点：优化参数  se(3)  6维
class VertexPose : public g2o::BaseVertex<6, Sophus::SE3d> {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;

  virtual void setToOriginImpl() override {
    _estimate = Sophus::SE3d();
  }

  /// left multiplication on SE3
  virtual void oplusImpl(const double *update) override {
    Eigen::Matrix<double, 6, 1> update_eigen;
    update_eigen << update[0], update[1], update[2], update[3], update[4], update[5];
    _estimate = Sophus::SE3d::exp(update_eigen) * _estimate;
  }

  virtual bool read(istream &in) override {}

  virtual bool write(ostream &out) const override {}
};

/// 6. g2o edge  误差维度3  x,y,z 
class EdgeProjectXYZRGBDPoseOnly : public g2o::BaseUnaryEdge<3, Eigen::Vector3d, VertexPose> {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;

  EdgeProjectXYZRGBDPoseOnly(const Eigen::Vector3d &point) : _point(point) {}

  virtual void computeError() override {
    const VertexPose *pose = static_cast<const VertexPose *> ( _vertices[0] );
    _error = _measurement - pose->estimate() * _point;
  }

  virtual void linearizeOplus() override {
    VertexPose *pose = static_cast<VertexPose *>(_vertices[0]);
    Sophus::SE3d T = pose->estimate();
    Eigen::Vector3d xyz_trans = T * _point;
    _jacobianOplusXi.block<3, 3>(0, 0) = -Eigen::Matrix3d::Identity();
    _jacobianOplusXi.block<3, 3>(0, 3) = Sophus::SO3d::hat(xyz_trans);
  }

  bool read(istream &in) {}

  bool write(ostream &out) const {}

protected:
  Eigen::Vector3d _point;
};

int main(int argc, char **argv) {
  if (argc != 5) {
    cout << "usage: pose_estimation_3d3d img1 img2 depth1 depth2" << endl;
    return 1;
  }
  //-- 读取图像
  Mat img_1 = imread(argv[1], CV_LOAD_IMAGE_COLOR);
  Mat img_2 = imread(argv[2], CV_LOAD_IMAGE_COLOR);

  vector<KeyPoint> keypoints_1, keypoints_2;
  vector<DMatch> matches;
  find_feature_matches(img_1, img_2, keypoints_1, keypoints_2, matches);
  cout << "一共找到了" << matches.size() << "组匹配点" << endl;

  // 建立3D点
  Mat depth1 = imread(argv[3], CV_LOAD_IMAGE_UNCHANGED);       // 深度图为16位无符号数，单通道图像
  Mat depth2 = imread(argv[4], CV_LOAD_IMAGE_UNCHANGED);       // 深度图为16位无符号数，单通道图像
  Mat K = (Mat_<double>(3, 3) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1);
  vector<Point3f> pts1, pts2;

  for (DMatch m:matches) {
    ushort d1 = depth1.ptr<unsigned short>(int(keypoints_1[m.queryIdx].pt.y))[int(keypoints_1[m.queryIdx].pt.x)];
    ushort d2 = depth2.ptr<unsigned short>(int(keypoints_2[m.trainIdx].pt.y))[int(keypoints_2[m.trainIdx].pt.x)];
    if (d1 == 0 || d2 == 0)   // bad depth
      continue;
    Point2d p1 = pixel2cam(keypoints_1[m.queryIdx].pt, K);
    Point2d p2 = pixel2cam(keypoints_2[m.trainIdx].pt, K);
    float dd1 = float(d1) / 5000.0;
    float dd2 = float(d2) / 5000.0;
    pts1.push_back(Point3f(p1.x * dd1, p1.y * dd1, dd1));
    pts2.push_back(Point3f(p2.x * dd2, p2.y * dd2, dd2));
  }

  cout << "3d-3d pairs: " << pts1.size() << endl;
  Mat R, t;
  // 这里调用ICP函数求解
  pose_estimation_3d3d(pts1, pts2, R, t);
  cout << "ICP via SVD results: " << endl;
  cout << "R = " << R << endl;
  cout << "t = " << t << endl;
  cout << "R_inv = " << R.t() << endl;
  cout << "t_inv = " << -R.t() * t << endl;

  cout << "calling bundle adjustment" << endl;
  // 最优化求解
  bundleAdjustment(pts1, pts2, R, t);

  // verify p1 = R * p2 + t
  for (int i = 0; i < 5; i++) {
    cout << "p1 = " << pts1[i] << endl;
    cout << "p2 = " << pts2[i] << endl;
    cout << "(R*p2+t) = " <<
         R * (Mat_<double>(3, 1) << pts2[i].x, pts2[i].y, pts2[i].z) + t
         << endl;
    cout << endl;
  }
}

void find_feature_matches(const Mat &img_1, const Mat &img_2,
                          std::vector<KeyPoint> &keypoints_1,
                          std::vector<KeyPoint> &keypoints_2,
                          std::vector<DMatch> &matches) {
  //-- 初始化
  Mat descriptors_1, descriptors_2;
  // used in OpenCV3
  Ptr<FeatureDetector> detector = ORB::create();
  Ptr<DescriptorExtractor> descriptor = ORB::create();
  // use this if you are in OpenCV2
  // Ptr<FeatureDetector> detector = FeatureDetector::create ( "ORB" );
  // Ptr<DescriptorExtractor> descriptor = DescriptorExtractor::create ( "ORB" );
  Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");
  //-- 第一步:检测 Oriented FAST 角点位置
  detector->detect(img_1, keypoints_1);
  detector->detect(img_2, keypoints_2);

  //-- 第二步:根据角点位置计算 BRIEF 描述子
  descriptor->compute(img_1, keypoints_1, descriptors_1);
  descriptor->compute(img_2, keypoints_2, descriptors_2);

  //-- 第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离
  vector<DMatch> match;
  // BFMatcher matcher ( NORM_HAMMING );
  matcher->match(descriptors_1, descriptors_2, match);

  //-- 第四步:匹配点对筛选
  double min_dist = 10000, max_dist = 0;

  //找出所有匹配之间的最小距离和最大距离, 即是最相似的和最不相似的两组点之间的距离
  for (int i = 0; i < descriptors_1.rows; i++) {
    double dist = match[i].distance;
    if (dist < min_dist) min_dist = dist;
    if (dist > max_dist) max_dist = dist;
  }

  printf("-- Max dist : %f \n", max_dist);
  printf("-- Min dist : %f \n", min_dist);

  //当描述子之间的距离大于两倍的最小距离时,即认为匹配有误.但有时候最小距离会非常小,设置一个经验值30作为下限.
  for (int i = 0; i < descriptors_1.rows; i++) {
    if (match[i].distance <= max(2 * min_dist, 30.0)) {
      matches.push_back(match[i]);
    }
  }
}

Point2d pixel2cam(const Point2d &p, const Mat &K) {
  return Point2d(
    (p.x - K.at<double>(0, 2)) / K.at<double>(0, 0),
    (p.y - K.at<double>(1, 2)) / K.at<double>(1, 1)
  );
}

// ICP  本程序重点  未调用库
void pose_estimation_3d3d(const vector<Point3f> &pts1,
                          const vector<Point3f> &pts2,
                          Mat &R, Mat &t) {
  Point3f p1, p2;     // 定义质心  
  int N = pts1.size();
  for (int i = 0; i < N; i++) {
    p1 += pts1[i];
    p2 += pts2[i];
  }
  p1 = Point3f(Vec3f(p1) / N);	// 求得质心
  p2 = Point3f(Vec3f(p2) / N);   
  vector<Point3f> q1(N), q2(N); // remove the center
  for (int i = 0; i < N; i++) {
    q1[i] = pts1[i] - p1;
    q2[i] = pts2[i] - p2;
  }

  // 计算 q1*q2^T
  Eigen::Matrix3d W = Eigen::Matrix3d::Zero();
  for (int i = 0; i < N; i++) {
    W += Eigen::Vector3d(q1[i].x, q1[i].y, q1[i].z) * Eigen::Vector3d(q2[i].x, q2[i].y, q2[i].z).transpose();
  }
  cout << "W=" << W << endl;

  // SVD on W
  Eigen::JacobiSVD<Eigen::Matrix3d> svd(W, Eigen::ComputeFullU | Eigen::ComputeFullV);
  Eigen::Matrix3d U = svd.matrixU();
  Eigen::Matrix3d V = svd.matrixV();

  cout << "U=" << U << endl;
  cout << "V=" << V << endl;

  Eigen::Matrix3d R_ = U * (V.transpose());
  if (R_.determinant() < 0) {
    R_ = -R_;
  }
  Eigen::Vector3d t_ = Eigen::Vector3d(p1.x, p1.y, p1.z) - R_ * Eigen::Vector3d(p2.x, p2.y, p2.z);

  // convert to cv::Mat
  R = (Mat_<double>(3, 3) <<
    R_(0, 0), R_(0, 1), R_(0, 2),
    R_(1, 0), R_(1, 1), R_(1, 2),
    R_(2, 0), R_(2, 1), R_(2, 2)
  );
  t = (Mat_<double>(3, 1) << t_(0, 0), t_(1, 0), t_(2, 0));
}



void bundleAdjustment(
  const vector<Point3f> &pts1,
  const vector<Point3f> &pts2,
  Mat &R, Mat &t) {
  // 构建图优化，先设定g2o
  typedef g2o::BlockSolverX BlockSolverType;
  typedef g2o::LinearSolverDense<BlockSolverType::PoseMatrixType> LinearSolverType; // 线性求解器类型
  // 梯度下降方法，可以从GN, LM, DogLeg 中选
  auto solver = new g2o::OptimizationAlgorithmLevenberg(
    g2o::make_unique<BlockSolverType>(g2o::make_unique<LinearSolverType>()));
  g2o::SparseOptimizer optimizer;     // 图模型
  optimizer.setAlgorithm(solver);   // 设置求解器
  optimizer.setVerbose(true);       // 打开调试输出

  // vertex
  VertexPose *pose = new VertexPose(); // camera pose
  pose->setId(0);
  pose->setEstimate(Sophus::SE3d());
  optimizer.addVertex(pose);

  // edges
  for (size_t i = 0; i < pts1.size(); i++) {
    EdgeProjectXYZRGBDPoseOnly *edge = new EdgeProjectXYZRGBDPoseOnly(
      Eigen::Vector3d(pts2[i].x, pts2[i].y, pts2[i].z));
    edge->setVertex(0, pose);
    edge->setMeasurement(Eigen::Vector3d(
      pts1[i].x, pts1[i].y, pts1[i].z));
    edge->setInformation(Eigen::Matrix3d::Identity());
    optimizer.addEdge(edge);
  }

  chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
  optimizer.initializeOptimization();
  optimizer.optimize(10);
  chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
  chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
  cout << "optimization costs time: " << time_used.count() << " seconds." << endl;

  cout << endl << "after optimization:" << endl;
  cout << "T=\n" << pose->estimate().matrix() << endl;

  // convert to cv::Mat
  Eigen::Matrix3d R_ = pose->estimate().rotationMatrix();
  Eigen::Vector3d t_ = pose->estimate().translation();
  R = (Mat_<double>(3, 3) <<
    R_(0, 0), R_(0, 1), R_(0, 2),
    R_(1, 0), R_(1, 1), R_(1, 2),
    R_(2, 0), R_(2, 1), R_(2, 2)
  );
  t = (Mat_<double>(3, 1) << t_(0, 0), t_(1, 0), t_(2, 0));
}