3d point cloud enhancement with multiple measurements

A point cloud decoder apparatus comprising a processor configured to perform at least:

• obtaining data representing at least a first point cloud and a second point cloud, the first point cloud representing a first observation of a scene and the second point cloud representing a second observation of the scene;
• obtaining information identifying at least a first set of quantizer shifts associated with the first point cloud;
• and
• obtaining refined point cloud data based on at least the first point cloud, the first set of quantizer shifts, and the second point cloud.

A point cloud encoding method comprising:

• obtaining data representing at least a first point cloud and a second point cloud, the first point cloud representing a first observation of a scene and the second point cloud representing a second observation of the scene;
• quantizing the first point cloud and the second point cloud, wherein quantizing the point cloud data comprises adding at least a first set of quantizer shifts to the first point cloud data;
• and
• encoding in a bitstream the quantized first and second point clouds.

A point cloud encoding apparatus comprising a processor configured to perform at least:

• obtaining data representing at least a first point cloud and a second point cloud, the first point cloud representing a first observation of a scene and the second point cloud representing a second observation of the scene;
• quantizing the first point cloud and the second point cloud, wherein quantizing the point cloud data comprises adding at least a first set of quantizer shifts to the first point cloud data;
• and
• encoding in a bitstream the quantized first and second point clouds.