US 12,439,085 B2
Cloud geometry data sensed by at least one sensor
Sebastien Lasserre, Beijing (CN); and Jonathan Taquet, Beijing (CN)
Assigned to Beijing Xiaomi Mobile Software Co., Ltd., Beijing (CN)
Appl. No. 18/695,699
Filed by Beijing Xiaomi Mobile Software Co., Ltd., Beijing (CN)
PCT Filed Jun. 30, 2022, PCT No. PCT/CN2022/103142
§ 371(c)(1), (2) Date Mar. 26, 2024,
PCT Pub. No. WO2023/050951, PCT Pub. Date Apr. 6, 2023.
Claims priority of application No. 21306362 (EP), filed on Sep. 30, 2021.
Prior Publication US 2024/0406442 A1, Dec. 5, 2024
Int. Cl. H04N 19/597 (2014.01); H04N 19/105 (2014.01); H04N 19/169 (2014.01)
CPC H04N 19/597 (2014.11) [H04N 19/105 (2014.11); H04N 19/1883 (2014.11)] 20 Claims
OG exemplary drawing
 
1. A method of encoding, into a bitstream, point cloud geometry data sensed by at least one sensor associated with a sensor index, the point cloud geometry data being represented by ordered coarse points occupying some discrete positions of a set of discrete positions of a two-dimensional space, each occupied coarse point being located within the two-dimensional space by a sensor index associated with a sensor that sensed a point of the point cloud associated with the occupied coarse point, and a sample index associated with a sensing time instant at which the point of the point cloud has been sensed, each occupied coarse point being associated with a radius based on a distance of the point of the point cloud from a referential, wherein the method comprises:
obtaining a list of candidate radiuses (L={r2}) for a first occupied coarse point (P1) having a first sensor index (λ1), a first sample index (s1) and being associated with a first radius (r1), the list of candidate radiuses comprising at least one second radius (r2) associated with at least one second occupied coarse point (P2) having a second sensor index (λ2) different from the first sensor index (λ1) and having a second sample index (s2) lower than or equal to the first sample index (s1), the at least one second occupied coarse point (P2) further fulfilling at least one eligibility condition indicating that the radius associated with the at least one second occupied coarse point (P2) is likely reducing a dynamic of a predictive residual radius (rres) when the first radius (r1) is predictively encoded;
selecting, for the first occupied coarse point (P1), a selected predicting radius (rpred) from the list of candidate radiuses (L={r2});
encoding, in the bitstream, a data (Ipred) representative of the selected predicting radius (rpred) in the list of candidate radiuses (L={r2}); and
predictively encoding, in the bitstream, a residual radius (rres) between the first radius (r1) and the selected predicting radius (rpred).