Live point cloud compression with egomotion propagation

A method for range data compression, the method comprising:

• generating a current range data frame for a current time point, the current range data frame including a two-dimensional (2D) array of current range data cells, each current range data cell in the 2D array of cells of the current range data frame including zero or more current ranges, the zero or more current ranges in the current range data cell representing zero or more points in a point cloud in a three-dimensional (3D) space for the current time point;
• propagating accumulated prior ranges in an accumulated prior range buffer from a prior time point to the current time point, the accumulated prior ranges having been accumulated from past range data up to the prior time point, the propagated accumulated prior ranges constituting a set of propagated accumulated prior ranges in a 2D array of accumulated prior range data cells;
• comparing a set of current ranges in the 2D array of current range data cells with the set of propagated accumulated prior ranges in the 2D array of propagated accumulated prior ranges to determine a set of range differences between the set of current ranges and the set of propagated accumulated prior ranges;
• identifying, based at least in part on the set of range differences, a proper subset of current ranges in the set of current ranges;
• and
• including the proper subset of current ranges in a range data signal to be transmitted from a range data transmitter to a range data receiver, the range data signal excluding other current ranges in the set of current ranges other than the proper subset of current ranges.