State summarization for binary voxel grid coding

A method for encoding point cloud data, comprising:

• determining a first set of a first number of states associated with an occupancy state for each of a plurality of encoded voxels neighboring a current voxel, wherein the current voxel and the plurality of encoded neighboring voxels are in a point cloud represented by point cloud data;
• determining a density of occupied voxels in the plurality of neighboring encoded voxels;
• processing the first set of states to obtain a second set of a second number of states, based on the density of occupied voxels in the plurality of neighboring encoded voxels;
• predicting, based on the second set of states, a probability for an occupancy state for the current voxel;
• and
• encoding the occupancy state for the current voxel, based on said predicted probability for the occupancy state for the current voxel.

An apparatus for decoding point cloud data, comprising:

• at least one processor configured for
• determining a first set of a first number of states associated with an occupancy state for each of a plurality of decoded voxels neighboring a current voxel, wherein the current voxel and the plurality of neighboring decoded voxels are in a point cloud represented by the point cloud data;
• determining a density of occupied voxels in the plurality of neighboring encoded voxels;
• processing the first set of states to obtain a second set of a second number of states, based on the density of occupied voxels in the plurality of neighboring encoded voxels;
• predicting, based on the second set of states, a probability for an occupancy state for the current voxel;
• and
• decoding the occupancy state for the current voxel, based on said predicted probability for the occupancy state for the current voxel.

A method for decoding point cloud data, comprising:

• determining a first set of a first number of states associated with an occupancy state for each of a plurality of decoded voxels neighboring a current voxel, wherein the current voxel and the plurality of decoded neighboring voxels are in a point cloud represented by the point cloud data;
• determining a density of occupied voxels in the plurality of neighboring encoded voxels;
• processing the first set of states to obtain a second set of a second number of states, based on the density of occupied voxels in the plurality of neighboring encoded voxels;
• predicting, based on the second set of states, a probability for an occupancy state for the current voxel;
• and
• decoding the occupancy state for the current voxel, based on said predicted probability for the occupancy state for the current voxel.