US 12,755,435 B2Granted

Three-dimensional data encoding method, three-dimensional data decoding method, three-dimensional data encoding device, and three-dimensional data decoding device

AssigneePanasonic Intellectual Property Corporation of America

InventorsNoritaka Iguchi, Toshiyasu Sugio

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Abstract

A three-dimensional data encoding method including: encoding tile information including information on N (N is an integer greater than or equal to 0) subspaces of a target space including three-dimensional points, and encoding point cloud data of the three-dimensional points based on the tile information; and generating a bitstream including the point cloud data encoded. The tile information includes N subspace coordinate information indicating coordinates of the N subspaces. The N subspace coordinate information each include three coordinate information each indicating a coordinate in one of three axial directions in a three-dimensional orthogonal coordinate system. When N is 1 or greater: in the encoding of the tile information, each of the three coordinate information is encoded using a first fixed length; and in the generating of the bitstream, the bitstream which includes the N subspace coordinate information encoded and first fixed length information indicating the first fixed length is generated.

Claims10

Dependent claims

A three-dimensional data encoding method comprising:

encoding tile information including information on N subspaces which are at least part of a target space in which three-dimensional points are included, and encoding point cloud data of the three-dimensional points based on the tile information, N being an integer greater than or equal to 0;
and
generating a bitstream including the point cloud data encoded, wherein
the tile information includes N items of subspace coordinate information indicating coordinates of the N subspaces,
the N items of subspace coordinate information each include three items of coordinate information each indicating a coordinate in a different one of three axial directions in a three-dimensional orthogonal coordinate system,
when N is greater than or equal to 1:
(i) in the encoding of the tile information, each of the three items of coordinate information included in each of the N items of subspace coordinate information is information indicating an origin in a different one of the three axial directions of a subspace corresponding to the item of subspace coordinate information, and each of the three items of coordinate information is encoded using a first fixed length that is common to the three items of coordinate information;
and
(ii) in the generating of the bitstream, the bitstream which includes the N items of subspace coordinate information encoded and first fixed length information indicating the first fixed length is generated,
the tile information includes at least one item of size information indicating a size of at least one subspace among the N subspaces,
in the encoding of the tile information, each of the at least one item of size information is encoded using a second fixed length,
in the generating of the bitstream, the bitstream which includes the at least one item of size information encoded and second fixed length information indicating the second fixed length is generated,
the three-dimensional data encoding method further comprises determining whether a size of each of the N subspaces matches a predetermined size,
in the encoding of the tile information, size information indicating a size of a subspace that does not match the predetermined size among the N subspaces is encoded as the at least one item of size information, using the second fixed length, and
in the generating of the bitstream, the bitstream which includes common flag information indicating whether the size of each of the N subspaces matches the predetermined size is generated.

12 more elements

A three-dimensional data decoding method comprising:

obtaining a bitstream including encoded point cloud data of three-dimensional points;
and
decoding tile information which is encoded and includes information on N subspaces which are at least part of a target space in which the three-dimensional points are included, and decoding the encoded point cloud data based on the tile information, N being an integer greater than or equal to 0, wherein
the tile information includes N items of subspace coordinate information indicating coordinates of the N subspaces,
the N items of subspace coordinate information each include three items of coordinate information each indicating a coordinate in a different one of three axial directions in a three-dimensional orthogonal coordinate system,
when N is greater than or equal to 1:
(i) in the obtaining of the bitstream, the bitstream which includes the N items of subspace coordinate information which are encoded and first fixed length information indicating the first fixed length is obtained;
and
(ii) in the decoding of the tile information which is encoded, each of the three items of coordinate information which are encoded and included in each of the N items of subspace coordinate information which are encoded is information indicating an origin in a different one of the three axial directions of a subspace corresponding to the item of subspace coordinate information, and each of the three items of coordinate information is decoded using the first fixed length that is common to the three items of coordinate information,
the tile information includes at least one item of size information indicating a size of at least one subspace among the N subspaces,
in the obtaining of the bitstream, the bitstream which includes the at least one item of size information which is encoded and second fixed length information indicating the second fixed length is obtained, and
in the decoding of the tile information which is encoded, each of the at least one item of size information which are encoded is decoded using the second fixed length,
in the obtaining of the bitstream, the bitstream which includes common flag information indicating whether a size of each of the N subspaces matches a predetermined size is obtained,
the three-dimensional data decoding method further comprises determining whether the size of each of the N subspaces matches the predetermined size based on the common flag information, and
in the decoding of the tile information which is encoded, encoded size information indicating a size of a subspace that does not match the predetermined size among the N subspaces is decoded as the at least one item of size information which is encoded, using the second fixed length.

12 more elements

A three-dimensional data encoding device comprising:

a processor;
and
memory, wherein
using the memory, the processor:
encodes tile information including information on N subspaces which are at least part of a target space in which three-dimensional points are included, and encoding point cloud data of the three-dimensional points based on the tile information, N being an integer greater than or equal to 0;
and
generates a bitstream including the point cloud data encoded, wherein
the tile information includes N items of subspace coordinate information indicating coordinates of the N subspaces,
the N items of subspace coordinate information each include three items of coordinate information each indicating a coordinate in a different one of three axial directions in a three-dimensional orthogonal coordinate system,
when N is greater than or equal to 1:
(i) in the encoding of the tile information, each of the three items of coordinate information included in each of the N items of subspace coordinate information is information indicating an origin in a different one of the three axial directions of a subspace corresponding to the item of subspace coordinate information, and the processor encodes each of the three items of coordinate information using a first fixed length that is common to the three items of coordinate information;
and
(ii) in the generating of the bitstream, the processor generates the bitstream which further includes the N items of subspace coordinate information encoded and first fixed length information indicating the first fixed length,
the tile information includes at least one item of size information indicating a size of at least one subspace among the N subspaces,
in the encoding of the tile information, the processor encodes each of the at least one item of size information using a second fixed length,
in the generating of the bitstream, the processor generates the bitstream which includes the at least one item of size information encoded and second fixed length information indicating the second fixed length,
the processor determines whether a size of each of the N subspaces matches a predetermined size,
in the encoding of the tile information, the processor encodes size information indicating a size of a subspace that does not match the predetermined size among the N subspaces as the at least one item of size information, using the second fixed length, and
in the generating of the bitstream, the processor generates the bitstream which includes common flag information indicating whether the size of each of the N subspaces matches the predetermined size.

16 more elements

A three-dimensional data decoding device comprising:

a processor;
and
memory, wherein
using the memory, the processor:
obtains a bitstream including encoded point cloud data of three-dimensional points;
and
decodes tile information which is encoded and includes information on N subspaces which are at least part of a target space in which the three-dimensional points are included, and decoding the encoded point cloud data based on the tile information, N being an integer greater than or equal to 0, wherein
the tile information includes N items of subspace coordinate information indicating coordinates of the N subspaces,
the N items of subspace coordinate information each include three items of coordinate information each indicating a coordinate in a different one of three axial directions in a three-dimensional orthogonal coordinate system,
when N is greater than or equal to 1:
(i) in the obtaining of the bitstream, the processor obtains the bitstream which includes the N items of subspace coordinate information which are encoded and first fixed length information indicating the first fixed length;
and
(ii) in the decoding of the tile information which is encoded, each of the three items of coordinate information which are encoded and included in each of the N items of subspace coordinate information which are encoded is information indicating an origin in a different one of the three axial directions of a subspace corresponding to the item of subspace coordinate information, and the processor decodes each of the three items of coordinate information using the first fixed length that is common to the three items of coordinate information,
the tile information includes at least one item of size information indicating a size of at least one subspace among the N subspaces,
in the obtaining of the bitstream, the bitstream which includes the at least one item of size information which is encoded and second fixed length information indicating the second fixed length is obtained, and
in the decoding of the tile information which is encoded, the processor decodes, using the second fixed length, each of the at least one item of size information which are encoded,
in the obtaining of the bitstream, the processor obtains the bitstream which includes common flag information indicating whether a size of each of the N subspaces matches a predetermined size,
the processor determines whether the size of each of the N subspaces matches the predetermined size based on the common flag information, and
in the decoding of the tile information which is encoded, the processor decodes encoded size information indicating a size of a subspace that does not match the predetermined size among the N subspaces as the at least one item of size information which is encoded, using the second fixed length.

16 more elements

Dependencies are inferred from the claim text.