Back to results
US 10,909,725 B2Granted
Point cloud compression
AssigneeApple Inc.
InventorsKhaled Mammou, Fabrice A. Robinet, Alexandros Tourapis, Yeping Su
Life of this patent
Estimating the term…
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.
Claims20
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, for the point cloud, a plurality of patches each corresponding to portions of the point cloud, wherein each patch comprises points with surface normal vectors that deviate from one another less than a threshold amount;
- for each patch,
- generate a patch image comprising the set of points corresponding to the patch projected onto a patch plane;
- and
- generate a patch image comprising depth information for the set of points corresponding to the patch, wherein the depth information represents depths of the points in a direction perpendicular to the patch plane;
- pack generated patch images for each of the determined patches into one or more two dimensional (2D) image frames;
- and
- encode the one or more 2D image frames.
8 more elements
A device, comprising:
- a computer system configured to implement a decoder configured to:
- receive one or more encoded two-dimensional (2D) image frames comprising patch images for a plurality of patches of a compressed point cloud, wherein, for each patch, the one or more encoded 2D image frames comprise:
- a patch image comprising a set of points of the patch projected onto a patch plane and a patch image comprising depth information for the set of points of the patch, wherein the depth information indicates depths of the points of the patch in a direction perpendicular to the patch plane;
- decode the one or more 2D encoded image frames comprising the patch images;
- determine, for each patch, spatial information for the set of points of the patch based, at least in part, on the patch image comprising the set of points of the patch projected onto the patch plane and the patch image comprising the depth information for the set of points of the patch;
- and
- generate a decompressed version of the compressed point cloud based, at least in part, on the determined spatial information for the plurality of patches.
4 more elements
A method of decoding a compressed point cloud comprising:
- receiving one or more encoded two-dimensional (2D) image frames comprising patch images for a plurality of patches of a compressed point cloud, wherein, for each patch, the one or more encoded 2D image frames comprise:
- a patch image comprising a set of points of the patch projected onto a patch plane and a patch image comprising depth information for the set of points of the patch, wherein the depth information indicates depths of the points of the patch in a direction perpendicular to the patch plane;
- decoding the one or more encoded 2D image frames comprising the patch images;
- determining, for each patch, spatial information for the set of points of the patch based, at least in part, on the patch image comprising the set of points of the patch projected onto the patch plane and the patch image comprising the depth information for the set of points of the patch;
- and
- generating a decompressed version of the compressed point cloud based, at least in part, on the determined spatial information for the plurality of patches.
3 more elements
Dependencies are inferred from the claim text.