US 11,454,710 B2Granted

Point cloud compression using a space filling curve for level of detail generation

AssigneeApple Inc.

InventorsKhaled Mammou, Alexandros Tourapis, Jungsun Kim

Life of this patent

Estimating the term…

Loading patent…

Abstract

A system comprises an encoder configured to compress attribute information for a point cloud and/or a decoder configured to decompress compressed attribute information. Attribute values for at least one starting point are included in a compressed attribute information file and attribute correction values are included in the compressed attribute information file. An order for the points is determined based on a space filling curve, wherein an encoder and a decoder determine a same order for the points based on the space filling curve. Levels of detail are determined by sampling the ordered points according to different sampling parameters, and attribute values are predicted for the points in the levels of detail using the determined order. The encoder determines attribute correction values based on a comparison of the predicted values to an original value prior to compression. The decoder corrects the predicted attribute values based on received attribute correction values.

Claims20

Dependent claims

A non-transitory computer-readable medium storing program instructions that, when executed by one or more processors, cause the one or more processors to:

determine points to be included in a first level of detail for a point cloud for which attribute information is being compressed;
and
determine points to be included in one or more additional levels of detail for the point cloud for which attribute information is being compressed,
wherein to determine the points to be included in the first level of detail and the one or more additional levels of detail, the program instructions cause the one or more processors to:
determine an ordering of the points of the point cloud based on a space filling curve, wherein respective points of the point cloud are assigned to an index that indexes the respective points based on proximities of the respective points to locations along the space filing curve;
sample the index according to a first sampling rate to determine points of the point cloud to be included in the first level of detail;
and
sample the index according to one or more other sampling rates to determine points of the point cloud to be included in the one or more additional levels of detail;
compress attribute information for the points determined to be included in the first level of detail;
and
compress attribute information for the points determined to be included in the one or more additional levels of detail.

8 more elements

A non-transitory computer-readable medium storing program instructions that, when executed by one or more processors, cause the one or more processors to:

determine points to be included in one or more levels of detail for a point cloud,
wherein to determine the points to be included in the one or more levels of detail, the program instructions cause the one or more processors to:
determine an ordering of the points of the point cloud based on a space filling curve, wherein respective points of the point cloud are assigned to an index that indexes the respective points based on proximities of the respective points to locations along the space filing curve;
and
sample the index according to one or more sampling rates to determine points of the point cloud to be included in the one or more levels of detail;
and
determine attribute values for the points determined to be included in the one or more levels of detail based on compressed attribute information for the respective one or more levels of detail of the point cloud.

4 more elements

A device, comprising:

a memory storing program instructions;
and
one or more processors, wherein the program instructions, when executed by the one or more processors, cause the one or more processors to:
receive spatial information for points of a point cloud;
receive compressed attribute information for one or more levels of detail of the point cloud;
determine points to be included in the one or more levels of detail for the point cloud,
wherein to determine the points to be included in the one or more levels of detail, the program instructions cause the one or more processors to:
determine an ordering of the points of the point cloud based on a space filling curve, wherein respective points of the point cloud are assigned to an index that indexes the respective points based on proximities of the respective points to locations along the space filing curve;
and
sample the index according to one or more sampling rates to determine points of the point cloud to be included in the one or more levels of detail;
and
determine attribute values for the points determined to be included in the one or more levels of detail based on the received compressed attribute information for the respective one or more levels of detail of the point cloud.

9 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/736,703Filed 7 Jan 2020 · us provisional application
Priority: 8 Jan 2019
Published: US 2020/0217937 A19 Jul 2020
Granted: 27 Sep 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification12 codes

G01S 7/4861
Receivers: circuits for detection, sampling, integration or read-out
G06T 9/001
Image coding: model-based coding, e.g. wire frame
G01S 17/42
Systems determining position data of a target: simultaneous measurement of distance and other co-ordinates
G06T 9/004
Image coding: predictors, e.g. intraframe, interframe coding