# US 12,010,341 B2 · Device and method for processing point cloud data

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- Number: US 12,010,341 B2
- Document ID: US12010341B2
- Status: Granted
- Kind: B2
- Application number: 17/621,463
- Filed: 2020-05-29
- Published: 2022-12-29
- Granted: 2024-06-11
- Earliest claimed: 2019-06-21
- Assignees: LG Electronics Inc.
- Applicants: LG Electronics Inc.
- Inventors: Hyunmook Oh; Sejin Oh
- Web page: https://patentgrep.com/patent/US12010341B2

## CPC

- G06T 17/005: {Tree description, e.g. octree, quadtree}
- H04N 19/597: specially adapted for multi-view video sequence encoding
- G06T 9/001: {Model-based coding, e.g. wire frame}
- G06T 9/40: Tree coding, e.g. quadtree, octree
- H04N 19/167: Position within a video image, e.g. region of interest [ROI]
- H04N 19/30: using hierarchical techniques, e.g. scalability (H04N19/63 takes precedence)
- H04N 19/42: characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation (H04N19/635 takes precedence)
- H04N 19/96: Tree coding, e.g. quad-tree coding
- G06T 2210/56: Particle system, point based geometry or rendering
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

A method for processing point cloud data according to embodiments may encode and transmit point cloud data. The method for processing point cloud data according to embodiments may receive and decode point cloud data.

## Claims

### Claim 1

A method for processing point cloud data, the method comprising:
encoding the point cloud data including geometry information and attribute information, wherein the geometry information represents positions of points of the point cloud data and the attribute information represents attributes of the points of the point cloud data, wherein encoding the point cloud data further includes:
encoding the geometry information, wherein the geometry information is encoded based on a tree structure, wherein the tree structure is represented by one or more levels; and
encoding the attribute information based on reconstructed geometry information and a level of detail of the attribute information; and
transmitting a bitstream including the encoded point cloud data, the bitstream including scalability information representing whether the attribute information is reconstructed based on the tree structure partially,
wherein a centroid point of the geometry information is selected, and
wherein a level for the attribute information corresponds to a level of the tree structure of the geometry information based on a value of the scalability information.

### Claim 2 (depends on 1)

The method of claim 1, wherein when the scalability information represents that decoding for the attribute information is based on partial reconstructed geometry information, the encoded attribute information are partially decoded with indexes of the points represented by the partial reconstructed geometry information.

### Claim 3 (depends on 2)

The method of claim 2, wherein the partial reconstructed geometry information corresponds to a partial tree structure, an end level of the partial tree structure is greater than leaf level of the tree structure.

### Claim 4

A device configured to process point cloud data, the device comprising:
an encoder configured to encode the point cloud data including geometry information and attribute information, wherein the geometry information represents positions of points of the point cloud data and the attribute information represents attributes of the points of the point cloud data, wherein the encoder includes:
a first encoder configured to encode the geometry information, wherein the geometry information is decoded based on a tree structure, wherein the tree structure is represented by one or more levels; and
a second encoder configured to encode the attribute information based on reconstructed geometry information and a level of detail of the attribute information; and
a transmitter configured to transmit a bitstream including the encoded point cloud data, the bitstream including scalability information representing whether the attribute information is reconstructed based on the tree structure partially,
wherein a centroid point of the geometry information is selected, and
wherein a level for the attribute information corresponds to a level of the tree structure of the geometry information based on a value of the scalability information.

### Claim 5 (depends on 4)

The device of claim 4, wherein when the scalability information represents that decoding for the attribute information is based on partial reconstructed geometry information, the attribute information are partially decoded with indexes of the points represented by the partial reconstructed geometry information.

### Claim 6 (depends on 5)

The device of claim 5, wherein the partial reconstructed geometry information corresponds to a partial tree structure, an end level of the partial tree structure is greater than leaf level of the tree structure.

### Claim 7

A method of processing point cloud data, the method comprising:
receiving a bitstream including point cloud data, wherein the point cloud data includes geometry information and attribute information, wherein the geometry information represents positions of points of the point cloud data and the attribute information represents attributes of the points of the point cloud data; and
decoding the point cloud data, wherein the decoding the point cloud data includes:
decoding the geometry information, wherein the geometry information is decoded based on a tree structure, wherein the tree structure is represented by one or more levels; and
decoding the attribute information based on reconstructed geometry information and a level of detail of the attribute information,
wherein the bitstream includes scalability information representing whether the attribute information is reconstructed based on the tree structure partially,
wherein a centroid point of the geometry information is selected, and
wherein a level for the attribute information corresponds to a level of the tree structure of the geometry information based on a value of the scalability information.

### Claim 8 (depends on 7)

The method of claim 7, wherein when the scalability information represents that decoding for the attribute information is based on partial reconstructed geometry information, the attribute information are partially decoded with indexes of the points represented by the partial reconstructed geometry information.

### Claim 9 (depends on 8)

The method of claim 8,
wherein the partial reconstructed geometry information corresponds to a partial tree structure, an end level of the partial tree structure is greater than leaf level of the tree structure.

### Claim 10

A device configured to process point cloud data, the device comprising:
a receiver configured to receive a bitstream including point cloud data, wherein the point cloud data includes geometry information and attribute information, wherein the geometry information represents positions of points of the point cloud data and the attribute information represents attributes of the points of the point cloud data; and
a decoder configured to decode the point cloud data, wherein the decoder includes:
a first decoder configured to decode the geometry information, wherein the geometry information is decoded based on a tree structure, wherein the tree structure is represented by one or more levels; and
a second decoder configured to decode the attribute information based on reconstructed geometry information and a level of detail of the attribute information,
wherein the bitstream includes scalability information representing whether the attribute information is reconstructed based on the tree structure partially,
wherein a centroid point of the geometry information is selected, and
wherein a level for the attribute information corresponds to a level of the tree structure of the geometry information based on a value of the scalability information.

### Claim 11 (depends on 10)

The device of claim 10, wherein when the scalability information represents that decoding for the attribute information is based on partial reconstructed geometry information, the attribute information are partially decoded with indexes of the points represented by the partial reconstructed geometry information.

### Claim 12 (depends on 11)

The device of claim 11,
wherein the partial reconstructed geometry information corresponds to a partial tree structure, an end level of the partial tree structure is greater than leaf level of the tree structure.