US 12,033,360 B2
Clipping laser indices in predictive geometry coding for point cloud compression
Adarsh Krishnan Ramasubramonian, Irvine, CA (US); Bappaditya Ray, San Diego, CA (US); Geert Van der Auwera, Del Mar, CA (US); and Marta Karczewicz, San Diego, CA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Sep. 30, 2021, as Appl. No. 17/491,114.
Claims priority of provisional application 63/088,843, filed on Oct. 7, 2020.
Claims priority of provisional application 63/087,804, filed on Oct. 5, 2020.
Prior Publication US 2022/0108485 A1, Apr. 7, 2022
Int. Cl. G06T 9/00 (2006.01); G01S 17/89 (2020.01)
CPC G06T 9/001 (2013.01) [G01S 17/89 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method of encoding a point cloud, the method comprising:
determining, by one or more processors, a quantity of lasers used to capture light detection and ranging (LIDAR) data that represents the point cloud; and
encoding, by the one or more processors, a laser index for a current node of the point cloud, wherein encoding the laser index comprises:
obtaining a predicted laser index value of the current node;
determining a residual laser index value for the current node, wherein determining the residual laser index value comprises constraining a sum of the residual laser index value and the predicted laser index value based on the determined quantity of lasers; and
encoding, in a bitstream, one or more syntax elements that represent the residual laser index value.