Patent SG-11201803525Y-A (SG)
Title: Method for compressing point cloud
Inventor: COHEN ROBERT
IPC: G06T9/00
Filed: 2016-12-21
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 27 July 2017 (27.07.2017) WIPOIPCT (10) International Publication Number WO 2017/126314 A1 (51) International Patent Classification: G06T9/00 (2006.01) (21) International Application Number: PCT/JP2016/089223 (22) International Filing Date: (25) Filing Language: (26) Publication Language 21 December 2016 (21.12.2016) English English (30) Priority Data: 15/004,301 22 January 2016 (22.01.2016) US (71) Applicant: MITSUBISHI ELECTRIC CORPORA­ TION [ JP/JP] ; 7-3, Marunouchi 2-chome, Chiyoda-ku, Tokyo, 1008310 (JP). (72) Inventors: COHEN, Robert; c/o Mitsubishi Electric Re­ search Laboratories, Inc., 201 Broadway, Cambridge, Mas­ sachusetts 02139 (US). TIAN, Dong; c/o Mitsubishi Elec­ tric Research Laboratories, Inc., 201 Broadway, Cam­ bridge, Massachusetts 02139 (US). VETRO, Anthony; c/o Mitsubishi Electric Research Laboratories, Inc., 201 Broadway, Cambridge, Massachusetts 02139 (US). (74) Agents: SOGA, Michiharu et al.; S. SOGA & CO., 8th Floor, Kokusai Building, 1-1, Marunouchi 3-chome, Chiy- oda-ku, Tokyo, 1000005 (JP). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3)) < Tf n O (54) Title: METHOD FOR COMPRESSING POINT CLOUD 103 Point cloud 101 Fig. 1 i'-'r-y Points on uniform grid 140 octree resolution r (voxel edge sUe) 102 100 120 110 Convert octree to pixels Average attribute values over all points in each octree leaf node 130 J Define replacement point location at center of octree leaf node Set of attribute Set of points vaiue(s) locations Preprocessed point cloud Set of attribute Set of points vaiue(s) locations Preprocessed point cloud Partition block edge size 150 J J 140 Partition cloud into uniform kxkxk blocks Blocks of attributes for input to compression system yly • •• 3r yly • •• g 3r yly • •• vl s. • •• 2j| I*J ol 2j| I I 170 160 (57) : A method compresses a point cloud composed of a plurality of points in three-dimensional (3D) space a by first ac - quiring the point cloud with sensor, wherein each point a is associated with a 3D coordinate and at least one attribute. The point cloud partitioned is into an array of 3D blocks of elements, wherein some of the elements in the 3D blocks have missing points. For each 3D block, attribute values for the 3D block are predicted based on the attribute values of neighboring 3D blocks, resulting in a 3D residual block. A 3D transform is applied to each 3D residual block using locations of occupied elements to produce transform coefficients, wherein the transform coefficients have a magnitude and sign. The transform coefficients are entropy encoded accord­ ing the magnitudes and sign bits to produce a bitstream.