Method and encoder for encoding lidar data

An encoder for encoding lidar data, comprising circuitry configured to implement:

• an input interface function configured to receive subsequent frames of lidar data to be encoded, each frame of lidar data comprising a number of lidar return signals for each of a plurality of rays emitted at a respective elevation and azimuth angle by a lidar, each lidar return signal including lidar measurement values comprising a measurement value of a first parameter, a measurement value of a second parameter, and a measurement value of a third parameter,
• an image frame generating function configured to represent each frame of lidar data as an image frame of a video sequence, whereby for each ray of the plurality of rays of the frame of lidar data, lidar measurement values of different lidar return signals are represented in different image portions of the image frame, the different image portions being stacked after each other in a row direction or a column direction of the image frame,
• wherein each image portion has a pixel grid corresponding to elevation and azimuth angles and pixel values formed from the lidar measurement values of the lidar return signals represented in that image portion, wherein the pixel values of an image portion are formed from the lidar measurement values by interpolating the lidar measurement values from the elevation and azimuth angles of the plurality of rays to the pixel grid of the image portion,
• wherein the measurement value of the first parameter is represented in a first color channel of the image frame, the measurement value of the second parameter is represented in a second color channel of the image frame, and the measurement value of the third parameter is represented in a third color channel of the image frame, and
• an encoding function configured to encode the video sequence using video encoding.

A non-transitory computer-readable medium comprising computer code instructions which, when executed by a device having processing capability, cause the device to carry out a method for encoding lidar data, comprising:

• receiving subsequent frames of lidar data to be encoded, each frame of lidar data comprising a number of lidar return signals for each of a plurality of rays emitted at a respective elevation and azimuth angle by a lidar, each lidar return signal including lidar measurement values comprising a measurement value of a first parameter, a measurement value of a second parameter, and a measurement value of a third parameter,
• representing each frame of lidar data as an image frame of a video sequence, whereby for each ray of the plurality of rays of the frame of lidar data, lidar measurement values of different lidar return signals are represented in different image portions of the image frame, the different image portions being stacked after each other in a row direction or a column direction of the image frame,
• wherein each image portion has a pixel grid corresponding to elevation and azimuth angles and pixel values formed from the lidar measurement values of the lidar return signals represented in that image portion, wherein the pixel values of an image portion are formed from the lidar measurement values by interpolating the lidar measurement values from the elevation and azimuth angles of the plurality of rays to the pixel grid of the image portion,
• wherein the measurement value of the first parameter is represented in a first color channel of the image frame, the measurement value of the second parameter is represented in a second color channel of the image frame, and the measurement value of the third parameter is represented in a third color channel of the image frame, and
• encoding the video sequence using video encoding.