公开(公告)号：US20240348832A1

公开(公告)日：2024-10-17

申请号：US18629517

申请日：2024-04-08

Applicant: QUALCOMM Incorporated

Inventor： Adarsh Krishnan Ramasubramonian ,  Geert Van der Auwera ,  Marta Karczewicz

IPC: H04N19/70 ,  H04N19/124 ,  H04N19/157 ,  H04N19/169 ,  H04N19/597

CPC classification number: H04N19/70 ,  H04N19/124 ,  H04N19/157 ,  H04N19/169 ,  H04N19/597

Abstract: A method of processing a point cloud includes determining that angular mode is enabled for encoding or decoding a current point of points in the point cloud, and parsing or signaling information for an azimuthal angle residual value for the current point independent of a radius value of the current point or a radius value of a previous point of the point cloud that is previous to the current point in decoding order. The azimuthal angle residual value is based on a difference between an azimuthal angle value of the current point and a predictor azimuthal angle value of the current point, and the azimuthal angle value of the current point is indicative an azimuthal angle of the current point based on a laser used to capture the points of the point cloud.

公开(公告)号：US20240312067A1

公开(公告)日：2024-09-19

申请号：US18677789

申请日：2024-05-29

Applicant: QUALCOMM Incorporated

Inventor： Adarsh Krishnan Ramasubramonian ,  Bappaditya Ray ,  Geert Van der Auwera ,  Marta Karczewicz

IPC: G06T9/00 ,  G01S17/89

CPC classification number: G06T9/001 ,  G01S17/89

Abstract: A method of encoding a point cloud includes determining, by one or more processors, a quantity of lasers used to capture light detection and ranging (LIDAR) data that represents the point cloud; and encoding, by the one or more processors, a laser index for a current node of the point cloud, wherein encoding the laser index comprises: obtaining a predicted laser index value of the current node; determining a residual laser index value for the current node, wherein determining the residual laser index value comprises constraining a sum of the residual laser index value and the predicted laser index value to be less than or equal to the determined quantity of lasers minus one; and encoding, in a bitstream, one or more syntax elements that represent the residual laser index value.

公开(公告)号：US20240303869A1

公开(公告)日：2024-09-12

申请号：US18627002

申请日：2024-04-04

Applicant: QUALCOMM Incorporated

Inventor： Geert Van der Auwera ,  Bappaditya Ray ,  Adarsh Krishnan Ramasubramonian ,  Marta Karczewicz

IPC: G06T9/00 ,  G01S17/89 ,  G06T17/20

CPC classification number: G06T9/001 ,  G01S17/89 ,  G06T17/20

Abstract: A device for encoding point cloud data, the device comprising: a memory to store the point cloud data; and one or more processors coupled to the memory and implemented in circuitry, the one or more processors configured to: determine a horizontal plane position of a node, wherein the horizontal plane position indicates a position of a single plane that is perpendicular to a first axis of a coordinate system, wherein the first axis is a horizontal axis; determine, from a plurality of contexts consisting of 8 contexts, a context for the horizontal plane position of the node; and perform arithmetic encoding on a syntax element indicating the horizontal plane position using the determined context.

公开(公告)号：US20240233196A9

公开(公告)日：2024-07-11

申请号：US18490467

申请日：2023-10-19

Applicant: QUALCOMM Incorporated

Inventor： Anique Akhtar ,  Geert Van der Auwera ,  Adarsh Krishnan Ramasubramonian ,  Marta Karczewicz

IPC: G06T9/00

CPC classification number: G06T9/002

Abstract: A method of encoding point cloud data includes receiving, for a first encoding process, geometry data of the point cloud data of a source point cloud; encoding, in accordance with the first encoding process, the geometry data to generate encoded geometry data of a target point cloud and a geometry bitstream; decoding the encoded geometry data to generate reconstructed geometry data; performing an attribute recomputing process on attribute data of the point cloud data of the source point cloud based on the reconstructed geometry data to generate recomputed, reconstructed point cloud data of the target point cloud; and encoding, in accordance with a second encoding process, the recomputed, reconstructed point cloud data to generate an attribute bitstream.

公开(公告)号：US20240185470A1

公开(公告)日：2024-06-06

申请号：US18488816

申请日：2023-10-17

Applicant: QUALCOMM Incorporated

Inventor： Adarsh Krishnan Ramasubramonian ,  Geert Van der Auwera ,  Marta Karczewicz

IPC: G06T9/00

CPC classification number: G06T9/001

Abstract: A device for processing point cloud data is configured to determine a first attribute value for a first point of a point cloud, the first point being a closest already-decoded point to a current point of the point cloud; determine second and third attribute values for second and third points of the point cloud, the second and third points being second and third closest already-decoded points; determine a fourth attribute value for a fourth point of the point cloud, the fourth point being an already-decoded point that is either further from, or the same distance to, the current point as the third point; generate a set of predictor candidates with a subset of the first attribute value, the second attribute value, the third attribute value, and the fourth attribute value based on a comparison of a location of the second point to a location of the third point.

公开(公告)号：US12002244B2

公开(公告)日：2024-06-04

申请号：US17224984

申请日：2021-04-07

Applicant: QUALCOMM Incorporated

Inventor： Adarsh Krishnan Ramasubramonian ,  Bappaditya Ray ,  Geert Van der Auwera ,  Louis Joseph Kerofsky ,  Marta Karczewicz

IPC: G06T9/00 ,  G06T3/40 ,  G06T9/40

CPC classification number: G06T9/001 ,  G06T3/40 ,  G06T9/40

Abstract: An example device for decoding point cloud data includes: a memory configured to store point cloud data; and one or more processors implemented in circuitry and configured to: decode a frame of the point cloud data including a plurality of points, each of the points being associated with position values defining a respective position of the point; determine a global scaling factor for the frame; and scale the position values of each of the points by the global scaling factor. The scaling may be clipped to prevent the points exceeding the boundaries of a corresponding bounding box including respective points.

公开(公告)号：US11949909B2

公开(公告)日：2024-04-02

申请号：US17558362

申请日：2021-12-21

Applicant: QUALCOMM Incorporated

Inventor： Luong Pham Van ,  Adarsh Krishnan Ramasubramonian ,  Bappaditya Ray ,  Geert Van der Auwera ,  Marta Karczewicz

IPC: H04N19/527 ,  H04N19/124 ,  H04N19/139 ,  H04N19/177 ,  H04N19/597

CPC classification number: H04N19/527 ,  H04N19/124 ,  H04N19/139 ,  H04N19/177 ,  H04N19/597

Abstract: An example device for coding point cloud data includes a memory configured to store data representing points of a point cloud, and one or more processors implemented in circuitry and configured to: determine height values of points in a point cloud; classify the points into a set of ground points or a set of object points according to the height values; and code the ground points and the object points according to the classifications. The one or more processors may determine top and bottom thresholds and classify the ground and object points according to the top and bottom thresholds. The one or more processors may further code a data structure, such as a geometry parameter set (GPS), including data representing the top and bottom thresholds.

公开(公告)号：US11803989B2

公开(公告)日：2023-10-31

申请号：US17143696

申请日：2021-01-07

Applicant: QUALCOMM Incorporated

Inventor： Adarsh Krishnan Ramasubramonian ,  Bappaditya Ray ,  Geert Van der Auwera ,  Marta Karczewicz

IPC: G06T9/40 ,  G06T7/73

CPC classification number: G06T9/40 ,  G06T7/73 ,  G06T2207/10028

Abstract: A method of decoding a point cloud comprises: reconstructing a position of a point of the point cloud; determining a quantized attribute value for the point; deriving a quantization parameter (QP) bit depth offset for the point; deriving a QP range for the point based on the QP bit depth offset for the point; determining a quantization step size for the point based on the QP range for the point; and inverse quantizing the quantized attribute value for the point based on the quantization step size for the point.

公开(公告)号：US20230342987A1

公开(公告)日：2023-10-26

申请号：US18300023

申请日：2023-04-13

Applicant: QUALCOMM Incorporated

Inventor： Luong Pham Van ,  Geert Van der Auwera ,  Adarsh Krishnan Ramasubramonian ,  Marta Karczewicz

IPC: G06T9/40

CPC classification number: G06T9/40

Abstract: A G-PCC coder may determine an occupancy of a reference child node in a reference node, wherein the reference node is in a reference frame of point cloud data used for inter prediction of a current node in a current frame of the point cloud data. The G-PCC coder may further determine a context for decoding a current occupancy bit of a current child node of the current node based on the occupancy of the reference child node, and arithmetic decode the current occupancy bit using the context.

公开(公告)号：US11770562B2

公开(公告)日：2023-09-26

申请号：US17354674

申请日：2021-06-22

Applicant: QUALCOMM Incorporated

Inventor： Bappaditya Ray ,  Adarsh Krishnan Ramasubramonian ,  Geert Van der Auwera ,  Marta Karczewicz

IPC: H04N19/70 ,  H04N19/157 ,  H04N19/184

CPC classification number: H04N19/70 ,  H04N19/157 ,  H04N19/184

Abstract: An apparatus configured for point cloud compression may be configured to code a first syntax element indicating a number of bits used to encode one or more second syntax elements, wherein the one or more second syntax elements indicate one or more of an offset of a bounding box, an origin point of the bounding box, a size of the bounding box, or a number of unique segments. The apparatus may code the first syntax element using an exponential Golomb code. The apparatus may further code the one or more second syntax elements using a fixed length code based on the number of bits indicated by the first syntax element, and code the point cloud based on the decoded one or more second syntax elements.