POINT CLOUD COMPRESSION
First Claim
1. A system comprising:
- one or more sensors configured to capture a plurality of points that make up a point cloud, wherein respective ones of the points comprise spatial information for the point and attribute information for the point; and
an encoder configured to compress the point cloud, wherein to compress the point cloud, the encoder is configured to;
determine a plurality of patches each corresponding to portions of the point cloud;
for each patch, generate a patch image comprising attribute information or spatial information for a set of points corresponding to a patch projected onto a patch plane;
pack generated patch images for each of the determined patches into one or more patch image frames;
generate a reconstructed version of the point cloud based on the patch images;
determine one or more points included in the point cloud that are omitted from the reconstructed version of the point cloud; and
encode the one or more patch image frames and spatial or attribute information for the one or more omitted points, wherein the one or more omitted points are compressed without determining additional patches for the one or more omitted points.
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Abstract
A system comprises an encoder configured to compress attribute information and/or spatial for a point cloud and/or a decoder configured to decompress compressed attribute and/or spatial information for the point cloud. To compress the attribute and/or spatial information, the encoder is configured to convert a point cloud into an image based representation. Also, the decoder is configured to generate a decompressed point cloud based on an image based representation of a point cloud. In some embodiments, an encoder may be configured to further compress points omitted from the image based representation. Also, in some embodiments, a decoder may be configured to decode points compressed outside of an image based representation or in a separate image based representation.
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Citations
20 Claims
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1. A system comprising:
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one or more sensors configured to capture a plurality of points that make up a point cloud, wherein respective ones of the points comprise spatial information for the point and attribute information for the point; and an encoder configured to compress the point cloud, wherein to compress the point cloud, the encoder is configured to; determine a plurality of patches each corresponding to portions of the point cloud; for each patch, generate a patch image comprising attribute information or spatial information for a set of points corresponding to a patch projected onto a patch plane; pack generated patch images for each of the determined patches into one or more patch image frames; generate a reconstructed version of the point cloud based on the patch images; determine one or more points included in the point cloud that are omitted from the reconstructed version of the point cloud; and encode the one or more patch image frames and spatial or attribute information for the one or more omitted points, wherein the one or more omitted points are compressed without determining additional patches for the one or more omitted points. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method comprising:
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determining, for a point cloud, a plurality of patches each corresponding to portions of the point cloud; for each patch, generating a patch image comprising attribute information or spatial information for a set of points corresponding to a patch projected onto a patch plane; packing generated patch images for each of the determined patches into one or more patch image frames; generating a reconstructed version of the point cloud based on the patch images; determining one or more points included in the point cloud that are omitted from the reconstructed version of the point cloud; and encoding the one or more patch image frames and spatial or attribute information for the one or more omitted points, wherein the one or more omitted points are compressed without determining additional patches for the one or more omitted points. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable medium storing program instructions, that when executed by one or more processors, cause the one or more processors to:
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determine, for a point cloud, a plurality of patches each corresponding to portions of the point cloud; for each patch, generate a patch image comprising attribute information or spatial information for a set of points corresponding to a patch projected onto a patch plane; pack generated patch images for each of the determined patches into one or more patch image frames; generate a reconstructed version of the point cloud based on the patch images; determine one or more points included in the point cloud that are omitted from the reconstructed version of the point cloud; and encode the one or more patch image frames and spatial or attribute information for the one or more omitted points, wherein the one or more omitted points are compressed without determining additional patches for the one or more omitted points. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification