Trimming search space for nearest neighbor determinations in point cloud compression
AssigneeApple Inc.
InventorsKhaled Mammou, Alexandros Tourapis, David Flynn, Zhenzhen Gao
Life of this patent
Estimating the term…
Abstract
A search space for performing nearest neighbor searches for encoding point cloud data may be trimmed. Ranges of a space filling curve may be used to identify search space to exclude or reuse, instead of generating nearest neighbor search results for at least some of the points of a point cloud located within some of the ranges of the space filling curve. Additionally, neighboring voxels may be searched to identify any neighboring points missed during the trimmed search based on the ranges of the space filling curve.
Claims20
A non-transitory, computer-readable, medium storing program instructions, that when executed on or across one or more processors, cause the one or more processors to:
- receive compressed spatial information for a set of points in three-dimensional (3D) space;
- receive compressed attribute information for the set of points in 3D space, wherein the compressed attribute information comprises compressed attribute information for attributes of respective ones of the points included in a plurality of levels of detail;
- determine, using the compressed spatial information, the plurality of levels of detail, wherein to determine the plurality of levels of detail the program instructions cause the one or more processors to:
- reconstruct spatial locations for the points of the set of points in 3D space by decompressing the compressed spatial information;
- determine an ordered index for the points of the set of points in 3D space, based on respective spatial locations of the points of the set of points in 3D space;
- and
- sub-sample the index to determine respective ones of the set of points in 3D space to be included in respective ones of the plurality of levels of detail;
- and
- determine, for respective ones of the plurality of levels of detail, attribute values for respective points of the set of points in 3D space included in the respective level of detail based on the compressed attribute information.
A non-transitory, computer-readable, medium storing program instructions, that when executed on or across one or more processors, cause the one or more processors to:
- receive information defining a set of points in three-dimensional (3D) space, wherein the information includes, for respective ones of the points, spatial information locating the respective point in 3D space and attribute information for the respective point;
- determine an ordered index for the points of the set of points in 3D space, based on respective spatial locations of the points of the set of points in 3D space;
- sub-sample the index to determine respective ones of the set of points in 3D space to be included in respective ones of a plurality of levels of detail;
- and
- determine, for respective ones of the plurality of levels of detail, compressed attribute information for the respective ones of the points included in the respective ones of the plurality of levels of detail.
A device, comprising:
- a memory storing program instructions;
- and
- one or more processors, wherein the program instructions, when executed on or across the one or more processors, cause the one or more processors to:
- receive compressed spatial information for a set of points in three-dimensional (3D) space;
- receive compressed attribute information for the set of points in 3D space, wherein the compressed attribute information comprises compressed attribute information for attributes of respective ones of the points included in a plurality of levels of detail;
- determine, using the compressed spatial information, the plurality of levels of detail, wherein to determine the plurality of levels of detail the program instructions cause the one or more processors to:
- determine an ordered index for the points of the set of points in 3D space, based on respective spatial locations of the points of the set of points in 3D space as determined using the compressed spatial information;
- and
- sub-sample the index to determine respective ones of the set of points in 3D space to be included in respective ones of the plurality of levels of detail;
- and
- determine, for respective ones of the plurality of levels of detail, attribute values for respective points of the set of points in 3D space included in the respective level of detail based on the compressed attribute information.
Dependencies are inferred from the claim text.