Voxel-wise coding control method for lossless point cloud compression

A method comprising:

• partitioning, into at least two groups, two or more voxels of a current level of point cloud data to be decoded;
• accessing already-decoded voxels of the current level;
• predicting probability distributions of a current voxel group in the current level based on the already-decoded voxels of the current level;
• accessing a bitstream for the current voxel group;
• and
• decoding values of the current voxel group based on the predicted probability distributions.

An apparatus comprising:

• a processor;
• and
• a memory storing instructions operative, when executed by the processor, to cause the apparatus to:
• partition, into at least two groups, two or more voxels of a current level of point cloud data to be decoded;
• access already-decoded voxels of the current level;
• predict probability distributions of a current voxel group in the current level based on the already-decoded voxels of the current level;
• access a bitstream for the current voxel group;
• and
• decode values of the current voxel group based on the predicted probability distributions.