	US 12,259,496 B2
	System, method, and components utilizing live point cloud compression
Jerramy Lee Gipson, Willits, CA (US)
Assigned to VOLKSWAGEN AKTIENGESELLSCHAFT, (DE); DR. ING. H.C.F. PORSCHE AKTIENGESELLSCHAFT, (DE); and AUDI AG, (DE)
Appl. No. 17/612,244
Filed by VOLKSWAGEN AKTIENGESELLSCHAFT, Wolfsburg (DE); DR. ING. H.C. F. PORSCHE AKTIENGESELLSCHAFT, Stuttgart (DE); and AUDI AG, Ingolstadt (DE)
PCT Filed May 29, 2020, PCT No. PCT/EP2020/065100 § 371(c)(1), (2) Date Nov. 18, 2021, PCT Pub. No. WO2020/240032, PCT Pub. Date Dec. 3, 2020.
Claims priority of provisional application 62/855,523, filed on May 31, 2019.
Prior Publication US 2022/0221558 A1, Jul. 14, 2022
Int. Cl. G01S 7/48 (2006.01); G01S 17/58 (2006.01); G01S 17/89 (2020.01); H03M 7/30 (2006.01)

CPC G01S 7/4808 (2013.01) [G01S 17/58 (2013.01); G01S 17/89 (2013.01); H03M 7/6011 (2013.01); H03M 7/70 (2013.01)]

23 Claims

1. A system for point cloud data compression, the system comprising:

at least one LiDAR sensor; and

a compression circuit configured to:

receive data for a plurality of rays from the LiDAR sensor, the data arranged in cells, the cells mapping to corresponding rays, each cell including at least a range value for a corresponding ray;

construct a frame for the received data; and

for each cell:

determine a velocity associated with the range value for the cell;

based upon the velocity, determine whether to compress the frame with respect to the cell; and

selectively compress the frame with respect to the cell based on the determination of whether to compress the range value for the cell,

wherein the compression circuit is further configured to determine a projected value for the range value for the cell using the velocity associated with the range value for the cell, and

wherein the compression circuit is further configured to:

compare the projected value for the range value with the range value; and

based on the comparison, determine whether to compress the range value for the cell.