HIERARCHICAL POINT CLOUD COMPRESSION WITH SMOOTHING
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;
determine a plurality of levels of detail for the point cloud, wherein different levels of detail include different sub-sets of the plurality of points that make up the point cloud;
assign an attribute value to at least one point of a first level of detail based on the attribute information included in the captured point cloud for the at least one point;
for respective points of the other points of the first level of detail, and points of one or more additional ones of the levels of detail, determine a predicted attribute value for the respective point based on predicted or assigned attributes values for neighboring points in a same level of detail as the point;
for respective points of the other points of the first level of detail, and the points of the one or more additional levels of detail, determine an attribute correction value for the respective point, based on comparing a predicted attribute value for the respective point to the attribute information for the point included in the captured point cloud that corresponds with the respective point;
apply an update operation to smooth the attribute correction values, wherein the update operation takes into account relative influences of the attributes of the points of a given level of detail on attribute values of points included in other levels of detail; and
encode the assigned attribute value and the updated attribute correction values for first level of detail and the one or more additional levels of detail.
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Accused Products
Abstract
A system comprises an encoder configured to compress attribute information for a point cloud and/or a decoder configured to decompress compressed attribute for the point cloud. To compress the attribute information, multiple levels of detail are generated based on spatial information. Also, attribute values are predicted based on the level of details. A decoder follows a similar prediction process based on level of details. Also, attribute correction values may be determined to correct predicted attribute values and may be used by a decoder to decompress a point cloud compressed using level of detail attribute compression. In some embodiments, an update operation is performed to smooth attribute correction values taking into account an influence factor of respective points in a given level of detail on attributes in other levels of detail.
24 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; determine a plurality of levels of detail for the point cloud, wherein different levels of detail include different sub-sets of the plurality of points that make up the point cloud; assign an attribute value to at least one point of a first level of detail based on the attribute information included in the captured point cloud for the at least one point; for respective points of the other points of the first level of detail, and points of one or more additional ones of the levels of detail, determine a predicted attribute value for the respective point based on predicted or assigned attributes values for neighboring points in a same level of detail as the point; for respective points of the other points of the first level of detail, and the points of the one or more additional levels of detail, determine an attribute correction value for the respective point, based on comparing a predicted attribute value for the respective point to the attribute information for the point included in the captured point cloud that corresponds with the respective point; apply an update operation to smooth the attribute correction values, wherein the update operation takes into account relative influences of the attributes of the points of a given level of detail on attribute values of points included in other levels of detail; and encode the assigned attribute value and the updated attribute correction values for first level of detail and the one or more additional levels of detail. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method comprising:
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determining a plurality of levels of detail for a captured or generated point cloud, wherein different levels of detail include different sub-sets of a plurality of points that make up the captured or generated point cloud; assigning an attribute value to at least one point of a first level of detail based on attribute information included in the captured or generated point cloud for the at least one point; for respective ones of points of the first level of detail, or points of one or more additional ones of the levels of detail, determining predicted attribute values for the respective points based on predicted or assigned attributes values for neighboring points of the respective point; for the respective ones of the points of the first level of detail, or the points of one or more of the additional levels of detail, determining respective attribute correction values for the respective points, based on comparing the predicted attribute values for the respective points to the attribute information for corresponding points included in the captured or generated point cloud; and applying an update operation to smooth the attribute correction values, wherein the update operation takes into account relative influences of the attributes of the points of a given level of detail on attribute values of the points in other levels of detail; and encoding the assigned attribute value and the updated attribute correction values for first level of detail and the one or more additional levels of detail. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. 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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receive compressed attribute information for a point cloud comprising at least one assigned attribute value for at least one point of a first level of detail of the point cloud and data indicating attribute correction values for attributes of the other points of the point cloud in the first level of detail and in one or more additional levels of detail; determine attribute information for a decompressed point cloud comprising the first level of detail, wherein said determining the attribute information comprises performing an update operation to adjust for attribute value smoothing applied at an encoder; and update the decompressed point cloud to include attribute information for additional sub-sets of points included in the one or more additional levels of detail, wherein said updating comprises determining attribute values for the sub-sets of points in the one or more additional levels of detail and performing an update operation to adjust for attribute value smoothing applied at the encoder for the points in the one or more additional levels of detail. - View Dependent Claims (18, 19, 20)
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Specification