US 12,266,141 B2
In-tree geometry quantization of point clouds
David Flynn, Darmstadt (DE); Khaled Mammou, Vancouver (CA); and Fabrice A. Robinet, Sunnyvale, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Dec. 19, 2023, as Appl. No. 18/545,966.
Application 18/545,966 is a continuation of application No. 17/791,692, granted, now 11,869,223, previously published as PCT/US2021/012827, filed on Jan. 8, 2021.
Claims priority of provisional application 62/958,688, filed on Jan. 8, 2020.
Claims priority of provisional application 62/958,689, filed on Jan. 8, 2020.
Prior Publication US 2024/0119641 A1, Apr. 11, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 9/40 (2006.01); G06T 17/00 (2006.01)
CPC G06T 9/40 (2013.01) [G06T 17/005 (2013.01); G06T 2210/56 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a computer system, a plurality of points that represent a point cloud in three-dimensional space;
representing, by the computer system for each point, a position of the point in each dimension of the three-dimensional space as a sequence of bits, wherein the position of the point is represented according to a tree data structure, wherein the tree data structure is an octree;
partitioning, by the computer system, at least one of the sequences of bits into a first portion of bits and a second portion of bits;
quantizing, by the computer system, each of the second portions of bits according to a quantization step size, wherein the quantization step size is determined according to an exponential function having a quantization parameter value as an input and the quantization step size as an output;
generating, by the computer system, a data structure representing the point cloud in the three-dimensional space, the data structure including the quantized second portions of bits; and
at least one of transmitting or storing the data structure by the computer system.