Simultaneous localization and mapping for video coding
First Claim
Patent Images
1. A method of decoding video data, the method comprising:
- generating a synthetic image based on a composite image and a scene structure map, wherein the composite image is constructed from one or more images that were previously decoded, wherein the scene structure map comprises a scene structure map of a current image of the video data or a scene structure map of an image of the video data that was previously decoded, wherein the scene structure map includes coordinate values for three-dimensional points, which indicate positions and relative depth of the points, within the current image or the image that was previously decoded, wherein generating the synthetic image comprises utilizing camera position and orientation information of the current image to render the synthetic image such that camera position and orientation for the synthetic image and the current image is the same, and wherein generating the synthetic image further comprises;
interconnecting points of the scene structure map to form a proxy geometry;
texture mapping the composite image to the proxy geometry to form an image-based model; and
rendering the image-based model to generate the synthetic image;
determining a residual image, wherein the residual image is indicative of a difference between the current image and the synthetic image, and wherein determining the residual image comprises determining the residual image based on one or more portions of the current image including a background static portion; and
reconstructing the current image based on the synthetic image and the residual image.
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Abstract
Video encoding and decoding techniques are described in which a predictive image s formed from texture mapping a composite image to a proxy geometry that provides an approximation of a three-dimensional structure of a current image or a previously encoded or decoded image. A residual between the predictive image and the current image is used to encode or decode the current image.
19 Citations
23 Claims
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1. A method of decoding video data, the method comprising:
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generating a synthetic image based on a composite image and a scene structure map, wherein the composite image is constructed from one or more images that were previously decoded, wherein the scene structure map comprises a scene structure map of a current image of the video data or a scene structure map of an image of the video data that was previously decoded, wherein the scene structure map includes coordinate values for three-dimensional points, which indicate positions and relative depth of the points, within the current image or the image that was previously decoded, wherein generating the synthetic image comprises utilizing camera position and orientation information of the current image to render the synthetic image such that camera position and orientation for the synthetic image and the current image is the same, and wherein generating the synthetic image further comprises; interconnecting points of the scene structure map to form a proxy geometry; texture mapping the composite image to the proxy geometry to form an image-based model; and rendering the image-based model to generate the synthetic image; determining a residual image, wherein the residual image is indicative of a difference between the current image and the synthetic image, and wherein determining the residual image comprises determining the residual image based on one or more portions of the current image including a background static portion; and reconstructing the current image based on the synthetic image and the residual image. - View Dependent Claims (2, 3, 4, 5)
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6. A method of encoding video data, the method comprising:
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generating a synthetic image based on a composite image and a scene structure map, wherein the composite image is constructed from one or more images that were previously encoded, wherein the scene structure map comprises a scene structure map of a current image of the video data or a scene structure map of an image of the video data that was previously encoded, wherein the scene structure map includes coordinate values for three-dimensional points, which indicate positions and relative depth of the points, within the current image or the image that was previously encoded, wherein generating the synthetic image comprises utilizing camera position and orientation information of the current image to render the synthetic image such that camera position and orientation for the synthetic image and the current image is the same, and wherein generating the synthetic image further comprises; interconnecting points of the scene structure map to form a proxy geometry; texture mapping the composite image to the proxy geometry to form an image-based model; and rendering the image-based model to generate the synthetic image; determining a residual image based on the synthetic image and the current image, wherein the residual image is indicative of a difference between the current image and the synthetic image, and wherein determining the residual image comprises determining the residual image based on one or more portions of the current image including a background static portion; and outputting information indicative of the residual image to encode the current image of the video data. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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13. A device for coding video data, the device comprising:
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a video memory configured to store one or more images that were previously coded and that are used to construct a composite image; and a coder processor configured to; generate a synthetic image based on the composite image and a scene structure map, wherein the scene structure map comprises a scene structure map of a current image of the video data or a scene structure map of an image of the video data that was previously coded, wherein the scene structure map includes coordinate values for three-dimensional points, which indicates positions and relative depths of the points, within the current image or the image that was previously coded, wherein to generate the synthetic image, the coder processor is configured to utilize camera position and orientation information of the current image to render the synthetic image such that camera position and orientation for the synthetic image and the current image is the same, and wherein to generate the synthetic image, the coder processor is further configured to; interconnect points of the scene structure map to form a proxy geometry; texture map the composite image to the proxy geometry to form an image-based model; and render the image-based model to generate the synthetic image; and code the current image based on a residual image of the current image, wherein the residual image is indicative of a difference between the current image and the synthetic image, and wherein the residual image is based on one or more portions of the current image including a background static portion. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A non-transitory computer-readable storage medium having instructions stored thereon that when executed cause one or more processors for a device for coding video data to:
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generate a synthetic image based on a composite image and a scene structure map, wherein the composite image is constructed from one or more images that were previously coded, wherein the scene structure map comprises a scene structure map of a current image of the video data or a scene structure map of an image of the video data that was previously coded, wherein the scene structure map includes coordinate values, which indicates positions and relative depths of the points, for three-dimensional points within the current image or the image that was previously coded, wherein the instructions that cause the one or more processors to generate the synthetic image comprise instructions that cause the one or more processors to utilize camera position and orientation information of the current image to render the synthetic image such that camera position and orientation for the synthetic image and the current image is the same, and wherein the instructions that cause the one or more processors to generate the synthetic image comprise instructions that cause the one or more processors to; interconnect points of the scene structure map to form a proxy geometry; texture map the composite image to the proxy geometry to form an image-based model; and render the image-based model to generate the synthetic image; and code the current image based on a residual image of the current image, wherein the residual image is indicative of a difference between the current image and the synthetic image, and wherein the residual image is based on one or more portions of the current image including a background static portion.
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Specification