US 12,175,716 B2
Predictive coding for point cloud compression
Khaled Mammou, Vancouver (CA); David Flynn, Munich (DE); and Alexandros Tourapis, Los Gatos, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by Apple Inc., Cupertino, CA (US)
Filed on Dec. 19, 2023, as Appl. No. 18/545,925.
Application 18/545,925 is a continuation of application No. 17/225,081, filed on Apr. 7, 2021, granted, now 11,887,345.
Claims priority of provisional application 63/006,608, filed on Apr. 7, 2020.
Prior Publication US 2024/0127491 A1, Apr. 18, 2024
Int. Cl. G06T 9/40 (2006.01)
CPC G06T 9/40 (2013.01) 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a computer system, first data regarding a plurality of points in a three-dimensional point cloud, wherein the first data is based on one or more measurements obtained by a sensor system, and wherein the first data comprises first spatial coordinates of at least some of the points according to a first coordinate system;
determining, by the computer system, second data regarding the plurality of points based on the first data, wherein the second data comprises:
second spatial coordinates of at least some of the points according to a second coordinate system different from the first coordinate system, and
one or more quantization parameters associated with the second spatial coordinates; and
encoding, by the computer system, the second data, wherein encoding the second data comprises generating a prediction tree having a plurality of nodes,
wherein a value of each node in the prediction tree represents the second spatial coordinates of a respective one of the plurality of points, and
wherein the value of at least a first node in the prediction tree is determined by predicting a position of a first point associated with the first node based on the value of one or more ancestor nodes of the first node and one or more properties of the sensor system,
wherein the sensor system comprises one or more light detection and ranging (LIDAR) sensors, and wherein the one or more properties of the sensor system comprise at least one of:
a rotational speed of one or more light emitters in the one or more LIDAR sensors,
a physical arrangement of one or more light emitters in the one or more LIDAR sensors, or
a pattern of emission of one or more light emitters in the one or more LIDAR sensors.