Point cloud data processing for scalable compression

摘要

A point cloud contains data points having coordinates that locate each data point in a coordinate system. Cell boundaries are defined in the point cloud and a unique index is assigned to each cell. The indexes of the cells are assigned to any of data point contained in a cell having the same index. The index data points can be accessed in a manner analogous to rasterized or gridded data while maintaining the arbitrary or random distribution associated with point clouds. The indexed point cloud can be further processed to achieve a scalable compression level, either losslessly by increasing redundancy in the point cloud data and/or by separating the point cloud data into relevancy bands, or by conventional lossy techniques, such as by exploiting the redundancies created in the point cloud data to represent the point cloud in a finite number of symbols.

主权项

1. An apparatus comprising:
a memory to:
store point cloud data comprising data points indicative of coordinates thereof with respect to an origin of a coordinate system, the coordinates of the data points being arbitrarily distributed with respect to the origin of the coordinate system; and a processor communicatively coupled to the memory and configured to:
define cells in the point cloud data such that the data points thereof are encompassed by the cells;define local coordinate systems in the respective cells, each local coordinate system having a local origin with coordinates relative to the origin of the coordinate system;map the coordinates of the data points relative to the origin into coordinates relative to the local origins of the respective local coordinate systems defined in the associated cells;determine a cell index for each of the data points uniquely identifying the cells in which the respective data points are contained;associate the mapped coordinates of the data points with the indexes of the corresponding data points; andstore the indexed data points in a memory.