Patent ID: 11887345
Assignee: APPLE INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G

Claim 12:
13. One or more non-transitory, computer-readable storage media having instructions stored thereon, that when executed by one or more processors, cause the one or more processors to perform operations comprising:
receiving encoded data regarding a plurality of points in a three-dimensional point cloud, wherein the encoded data comprises:
a prediction tree having a plurality of nodes generated based on spatial information regarding the plurality of points and one or more properties of a sensor system that obtained the spatial information,
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,

wherein a value of each node in the prediction tree represents first spatial coordinates of a respective one of the plurality of points according to a first coordinate system, 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 a value of one or more ancestor nodes of the first node and the one or more properties of the sensor system;

decoding the encoded data to determine first data regarding the plurality of points, wherein the first data comprises:
the first spatial coordinates of at least some of the points, and
one or more quantization parameters associated with the first spatial coordinates;

determining 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
generating a representation of the three-dimensional point cloud based on the second data.