Li Cui

Wanting Xu, Si'ao Zhang, Li Cui et al.

Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the estimation, it is generally believed that fusion with other sensors is a requirement. In this work, we demonstrate reliable, purely event-based visual odometry on planar ground vehicles by employing the constrained non-holonomic motion model of Ackermann steering platforms. We extend single feature n-linearities for regular frame-based cameras to the case of quasi time-continuous event-tracks, and achieve a polynomial form via variable degree Taylor expansions. Robust averaging over multiple event tracks is simply achieved via histogram voting. As demonstrated on both simulated and real data, our algorithm achieves accurate and robust estimates of the vehicle's instantaneous rotational velocity, and thus results that are comparable to the delta rotations obtained by frame-based sensors under normal conditions. We furthermore significantly outperform the more traditional alternatives in challenging illumination scenarios. The code is available at \url{https://github.com/gowanting/NHEVO}.

Na Lei, Kehua Su, Li Cui et al.

In this work, we show the intrinsic relations between optimal transportation and convex geometry, especially the variational approach to solve Alexandrov problem: constructing a convex polytope with prescribed face normals and volumes. This leads to a geometric interpretation to generative models, and leads to a novel framework for generative models. By using the optimal transportation view of GAN model, we show that the discriminator computes the Kantorovich potential, the generator calculates the transportation map. For a large class of transportation costs, the Kantorovich potential can give the optimal transportation map by a close-form formula. Therefore, it is sufficient to solely optimize the discriminator. This shows the adversarial competition can be avoided, and the computational architecture can be simplified. Preliminary experimental results show the geometric method outperforms WGAN for approximating probability measures with multiple clusters in low dimensional space.