Method and apparatus of encoding/decoding point cloud geometry data sensed by at least one sensor
AssigneeBeijing Xiaomi Mobile Software Co., Ltd.
InventorsSebastien LASSERRE, Jonathan TAQUET
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Abstract
A method and apparatus is capable of encoding and decoding a point cloud sensed by any type of sensor following a sensing path. The method obtains coarse representations of sensed points and encodes controls points of a two-dimensional curve representing the sensing path and the coarse representations. The control points are decoded, the two-dimensional curve representing the sensing path is obtained by interpolation between the control points and coarse representations of points are decoded. Points of the point cloud are then reconstructed from the decoded two-dimensional curve representing the sensing path and the decoded coarse representations.
Claims23
A method of encoding points (P) of a point cloud into a bitstream of encoded point cloud data, wherein
- the points (P) of the point cloud are sensed by at least one sensor according to a sensing path represented by a two-dimensional curve (SP) in a two-dimensional angular coordinate space comprising an azimuthal coordinate representative of an azimuthal angle representing a sensing angle of a sensor relative to a referential and an elevation coordinate representative of an elevation angle of a sensor relative to a horizontal referential plane;
- and wherein the method comprises:
- encoding, into the bitstream, control points (ωk) used to obtain the two-dimensional curve (SP) by interpolation between said control points;
- and
- encoding, into the bitstream, the points (P) of the point cloud relatively to coarse points (Pλ(s)) coarsely representing angular coordinates of the points of the point cloud, a coarse point being defined in the two-dimensional angular coordinate space from a sample index relative to a sensing time instant along the two-dimensional curve and one sensor index associated with a sensor.
(canceled)
The method of 1, wherein the two-dimensional curve is parametrized by associating a sampling index (sk) with each control point.
An apparatus of encoding points of a point cloud into a bitstream of encoded point cloud data, wherein
- the points of the point cloud are sensed by at least one sensor according to a sensing path represented by a two-dimensional curve (SP) in a two-dimensional angular coordinate space comprising an azimuthal coordinate representative of an azimuthal angle representing a sensing angle of a sensor relative to a referential and an elevation coordinate representative of an elevation angle of a sensor relative to a horizontal referential plane;
- and wherein the apparatus comprises at least one processor configured to:
- encode, into the bitstream, control points (ωk) used to obtain the two-dimensional curve (SP) by interpolation between said control points;
- and
- encode, into the bitstream, the points (P) of the point cloud relatively to coarse points (Pλ(s)) coarsely representing angular coordinates of the points of the point cloud, a coarse point being defined in the two-dimensional angular coordinate space from a sample index relative to a sensing time instant along the two-dimensional curve and one sensor index associated with a sensor.
An apparatus of decoding points of a point cloud from a bitstream of encoded point cloud data, wherein the apparatus comprises at least one processor configured to perform the method of claim 16.
11-12. (canceled)
(canceled)
A non-transitory storage medium carrying instructions of program code for executing the method of claim 16.
A method of decoding points (P) of a point cloud from a bitstream of encoded point cloud data, wherein the method comprises:
- decoding control points (ωk) from the bitstream, the control points being used to obtain a two-dimensional curve (SP) representing a sensing path in a two-dimensional curve in a two-dimensional angular coordinate space comprising an azimuthal coordinate representative of an azimuthal angle representing a sensing angle of a sensor relative to a referential and an elevation coordinate representative of an elevation angle of a sensor relative to a horizontal referential plane;
- decoding, from the bitstream, the points (P) of the point cloud relatively to coarse points (Pλ(s)) having angular coordinates in the two-dimensional angular coordinate space that coarsely represent angular coordinates of the points of the point cloud, a coarse point being defined in the two-dimensional angular coordinate space from a sample index relative to a sensing time instant along the two-dimensional curve and one sensor index associated with a sensor.
Dependencies are inferred from the claim text.