# US 2023/0056576 A1 · 3d point cloud enhancement with multiple measurements > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0056576 A1 - Document ID: US20230056576A1 - Status: Published application - Kind: A1 - Application number: 17/795,149 - Filed: 2021-02-05 - Published: 2023-02-23 - Earliest claimed: 2020-02-06 - Assignees: PCMS Holdings, Inc. - Applicants: PCMS Holdings, Inc. - Inventors: Jiahao PANG; Xue ZHANG; Gene CHEUNG; Dong Tian - Web page: https://patentgrep.com/patent/US20230056576A1 ## CPC - H04N 19/124: Quantisation - H04N 19/172: the region being a picture, frame or field - H04N 19/463: by compressing encoding parameters before transmission - H04N 19/597: specially adapted for multi-view video sequence encoding - H04N 19/85: using pre-processing or post-processing specially adapted for video compression - G06T 2210/56: Particle system, point based geometry or rendering - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Systems and methods are described for refining first point cloud data using at least second point cloud data and one or more sets of quantizer shifts. An example point cloud decoding method includes obtaining data representing at least a first point cloud and a second point cloud; 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. The obtaining of the refined point cloud data may include performing a subtraction based on at least the first set of quantizer shifts. Corresponding encoding systems and methods are also described. ## Claims ### Claim 1 A point cloud decoding 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; 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. ### Claim 2 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. ### Claim 3 (depends on 1) The method of claim 1, wherein obtaining the refined point cloud data comprises performing a subtraction based on at least the first set of quantizer shifts. ### Claim 4 (depends on 1) The method of claim 1, further comprising: obtaining information identifying a second set of quantizer shifts associated with the second point cloud, the second set of quantizer shifts being different from the first set of quantizer shifts; wherein obtaining the refined point cloud data is further based on the second set of quantizer shifts. ### Claim 5 (canceled) ### Claim 6 (depends on 1) The method of claim 1, wherein the first point cloud represents a left view of a scene and the second point cloud represents a right view of the scene. ### Claim 7 (depends on 1) The method of claim 1, wherein the first point cloud and the second point cloud are frames associated with different times. ### Claim 8 (depends on 1) The method of claim 1, wherein the first set of quantizer shifts comprises at least a first shift associated with a first point in the first point cloud and a different second shift associated with a second point in the first point cloud. ### Claim 9 (depends on 1) The method of claim 1, wherein the data representing the first point cloud comprises a first parameter (y1) having a first quantization range, the data representing the second point cloud comprises a second parameter (y2) having a second quantization range, and wherein obtaining the refined point cloud data comprises obtaining a third parameter ({tilde over (x)}) in the quantization range of both the first parameter (y1) and the second parameter (y2). ### Claim 10 (depends on 1) The method of claim 1, wherein obtaining the refined point cloud data (xl) based on the first point cloud (yl) and the second point cloud (yr) comprises selecting the refined first point cloud (xl) to substantially maximize a product of factors comprising one or more of the following factors: a conditional probability Pr(yl|xl) of the first point cloud (yl) given the refined first point cloud (xl), a conditional probability Pr(yr|g(xl)) of the second point cloud (yr) given an estimate g(xl) of a second refined point cloud (xr), where the estimate g(xl) is based on the first refined point cloud (xl), a prior probability Pr(xl) of the first refined point cloud data (xl), and a prior probability Pr(g(xl)) of the estimate g(xl) of the second refined point cloud (xr). ### Claim 11 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. ### Claim 12 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. ### Claim 13 (depends on 11) The method of claim 11, further comprising encoding in the bitstream information indicating the first set of quantizer shifts. ### Claim 14 (depends on 11) The method of claim 11, wherein quantizing the first point cloud and the second point cloud includes adding a second set of quantizer shifts to the second point cloud, further comprising encoding in the bitstream information indicating the second set of quantizer shifts. ### Claim 15 (depends on 11) The method of claim 11, wherein the first point cloud represents a left view of a scene and the second point cloud represents a right view of the scene. ### Claim 16 (depends on 2) The decoder apparatus of claim 2, wherein obtaining the refined point cloud data comprises performing a subtraction based on at least the first set of quantizer shifts. ### Claim 17 (depends on 2) The decoder apparatus of claim 2, wherein the first point cloud represents a left view of a scene and the second point cloud represents a right view of the scene. ### Claim 18 (depends on 2) The decoder apparatus of claim 2, wherein the first point cloud and the second point cloud are frames associated with different times. ### Claim 19 (depends on 11) The encoding method of claim 11, wherein the first point cloud and the second point cloud are frames associated with different times. ### Claim 20 (depends on 12) The encoding apparatus of claim 12, wherein the first point cloud represents a left view of a scene and the second point cloud represents a right view of the scene. ### Claim 21 (depends on 12) The encoding apparatus of claim 12, wherein the first point cloud and the second point cloud are frames associated with different times.