Method and apparatus for compressing and decompressing three-dimensional (3D) map
AssigneeHuawei Technologies Co., Ltd.
InventorsXiaoran Cao, Kangying Cai, Pei Wang
Life of this patent
Estimating the term…
Abstract
Embodiments of this application provide methods and apparatuses for compressing and decompressing a three-dimensional (3D) map, to reduce a data volume of a 3D map. The method for compressing a 3D map includes: obtaining a 3D map descriptor, where the 3D map descriptor corresponds to at least one 3D map point of the 3D map; performing binarization on a relationship between the 3D map descriptor and at least one preset threshold vector to obtain binary data; and performing quantization on a difference between the 3D map descriptor and the at least one preset threshold vector to obtain quantized data.
Claims13
An apparatus for compressing a three-dimensional (3D) map, wherein the apparatus comprises one or more processors and a memory coupled to the one or more processors, the memory comprises instructions, and when the instructions are executed by the one or more processors, cause the apparatus to perform:
- obtaining a 3D map descriptor, wherein the 3D map descriptor corresponds to at least one 3D map point of the 3D map;
- performing binarization on a relationship between the 3D map descriptor and at least one preset threshold vector to obtain binary data;
- and
- performing quantization on a difference between the 3D map descriptor and the at least one preset threshold vector to obtain quantized data;
- encapsulating the binary data and the quantized data to obtain a bitstream of the 3D map;
- and performing one of:
- receiving 3D map request information sent by an electronic device, and sending, to the electronic device in response to the 3D map request information, the bitstream of the 3D map corresponding to the 3D map request information;
- or
- sending the bitstream of the 3D map to a server,
- wherein the at least one preset threshold vector comprises N preset threshold vectors, wherein each preset threshold vector comprises a plurality of components each corresponding to a dimension of the preset threshold vector, wherein components at a same position of the N preset threshold vectors successively increase or decrease, and successively increasing indicates that any component of an ith preset threshold vector in the N preset threshold vectors is greater than or equal to a component at a same position of an (i−1)th preset threshold vector, and successively decreasing indicates that any component of the ith preset threshold vector in the N preset threshold vectors is less than or equal to a component at a same position of the (i−1)th preset threshold vector, wherein 2≤i≤N;
- wherein each bit of the binary data corresponds to a particular component of a particular preset threshold vector and indicates whether that particular component of that particular preset threshold vector is selected for quantization.
An apparatus for decompressing a three-dimensional (3D) map, wherein the apparatus comprises one or more processors and a memory coupled to the one or more processors, the memory comprises instructions, and when the instructions are executed by the one or more processors, cause the apparatus to perform:
- obtaining compressed data of the 3D map, wherein the compressed data comprises compressed data of a 3D map descriptor, wherein the compressed data of a 3D map descriptor comprises binary data and quantized data;
- and
- obtaining a reconstructed 3D map descriptor based on the binary data and the quantized data;
- performing dequantization on the quantized data to obtain a difference between the 3D map descriptor and at least one preset threshold vector;
- and
- obtaining the reconstructed 3D map descriptor based on the difference, the binary data, and the at least one preset threshold vector, wherein the binary data indicates a relationship between the 3D map descriptor and the at least one preset threshold vector,
- wherein the at least one preset threshold vector is determined based on the binary data and N preset threshold vectors, wherein
- components at a same position of the N preset threshold vectors successively increase or decrease, wherein N is an integer greater than 1;
- and successively increasing indicates that any component of an ith preset threshold vector in the N preset threshold vectors is greater than or equal to a component at a same position of an (i−1)th preset threshold vector, and successively decreasing indicates that any component of the ith preset threshold vector in the N preset threshold vectors is less than or equal to a component at a same position of the (i−1)th preset threshold vector, wherein 2≤i≤N and each bit of the binary data corresponds to a particular component of a particular preset threshold vector and indicates whether that particular component of that particular preset threshold vector is selected for quantization.
A method for compressing a three-dimensional (3D) map, applied to an apparatus that comprises one or more processors, wherein the method comprises:
- obtaining, by the one or more processors, a 3D map descriptor, wherein the 3D map descriptor corresponds to at least one 3D map point of the 3D map;
- performing, by the one or more processors, binarization on a relationship between the 3D map descriptor and at least one preset threshold vector to obtain binary data;
- and
- performing, by the one or more processors, quantization on a difference between the 3D map descriptor and the at least one preset threshold vector to obtain quantized data;
- encapsulating the binary data and the quantized data to obtain a bitstream of the 3D map;
- and performing one of:
- receiving 3D map request information sent by an electronic device, and sending, to the electronic device in response to the 3D map request information, the bitstream of the 3D map corresponding to the 3D map request information;
- or
- sending the bitstream of the 3D map to a server,
- wherein the at least one preset threshold vector comprises N preset threshold vectors, wherein each preset threshold vector comprises a plurality of components each corresponding to a dimension of the preset threshold vector, wherein components at a same position of the N preset threshold vectors successively increase or decrease, and successively increasing indicates that any component of an ith preset threshold vector in the N preset threshold vectors is greater than or equal to a component at a same position of an (i−1)th preset threshold vector, and successively decreasing indicates that any component of the ith preset threshold vector in the N preset threshold vectors is less than or equal to a component at a same position of the (i−1)th preset threshold vector, wherein 2≤i≤N;
- wherein each bit of the binary data corresponds to a particular component of a particular preset threshold vector and indicates whether that particular component of that particular preset threshold vector is selected for quantization.
Dependencies are inferred from the claim text.