Three-dimensional data encoding method, three-dimensional data decoding method, three-dimensional data encoding device, and three-dimensional data decoding device

A technology of three-dimensional data and encoding method, applied in image encoding, image data processing, digital video signal modification and other directions, can solve the problem of large amount of point group data, and achieve the effect of improving encoding efficiency and reducing processing capacity

Pending Publication Date: 2020-12-04
PANASONIC INTELLECTUAL PROPERTY CORP OF AMERICA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although it is expected that point cloud will become the mainstream as a re

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  • Three-dimensional data encoding method, three-dimensional data decoding method, three-dimensional data encoding device, and three-dimensional data decoding device
  • Three-dimensional data encoding method, three-dimensional data decoding method, three-dimensional data encoding device, and three-dimensional data decoding device
  • Three-dimensional data encoding method, three-dimensional data decoding method, three-dimensional data encoding device, and three-dimensional data decoding device

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Example Embodiment

[0195](Embodiment 1)

[0196]First, the data structure of coded three-dimensional data (hereinafter also referred to as coded data) according to this embodiment will be described.figure 1The structure of the encoded three-dimensional data according to this embodiment is shown.

[0197]In the present embodiment, the three-dimensional space is divided into a space (SPC) corresponding to a picture in encoding of a moving image, and the three-dimensional data is encoded in units of the space. The space is further divided into volumes (VLM) equivalent to macroblocks in video encoding, and prediction and conversion are performed in units of VLM. The volume includes multiple voxels (VXL), the smallest unit corresponding to the position coordinates. In addition, prediction refers to the same as the prediction in the two-dimensional image, referring to other processing units, generating predicted three-dimensional data similar to the processing unit of the processing target, and performing the dif...

Example Embodiment

[0307](Embodiment 2)

[0308]When using the coded data of the point cloud in an actual device or service, it is desirable to transmit and receive necessary information according to the application in order to suppress the network bandwidth. However, there is no such function in the coding structure of 3D data so far, and therefore there is no corresponding coding method.

[0309]In this embodiment, it will be explained that a three-dimensional data encoding method and a three-dimensional data encoding device are used to provide the function of transmitting and receiving necessary information according to the application in the encoded data of the three-dimensional point cloud. A three-dimensional data decoding method and a three-dimensional data decoding device for decoding encoded data.

[0310]A voxel (VXL) having a feature amount above a certain level is defined as a feature voxel (FVXL), and a world space (WLD) composed of FVXL is defined as a sparse world space (SWLD).Picture 11A config...

Example Embodiment

[0405](Embodiment 3)

[0406]In this embodiment, a method of transmitting and receiving three-dimensional data between vehicles will be described. For example, three-dimensional data is sent and received between the own vehicle and surrounding vehicles.

[0407]Figure 24It is a block diagram of the three-dimensional data creation apparatus 620 according to this embodiment. The three-dimensional data creation device 620 is included in the own vehicle, for example, and the received second three-dimensional data 635 is combined with the first three-dimensional data 632 created by the three-dimensional data creation device 620 to create more dense third three-dimensional data 636.

[0408]The 3D data creation device 620 includes a 3D data creation unit 621, a request range determination unit 622, a search unit 623, a reception unit 624, a decoding unit 625, and a synthesis unit 626.

[0409]First, the three-dimensional data creation unit 621 creates the first three-dimensional data 632 using the se...

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Abstract

This three-dimensional data encoding method encodes information of a target node contained in an N (where N is an integer at least equal to 2) tree structure of a plurality of three-dimensional pointsincluded in three-dimensional data, wherein, in the encoding, among a plurality of adjacent nodes spatially adjacent to the target node, reference to information of a first node having a parent nodethat is the same as that of the target node is allowed, and reference to information of a second node having a different parent node to that of the target node is prohibited. For example, in the three-dimensional data encoding method, a determination may additionally be performed to ascertain whether to prohibit reference to the information of the second node, and a bit stream including prohibition switching information, which is the result of the determination and indicates whether reference to the information of the second node is to be prohibited, may be generated.

Description

technical field [0001] The present disclosure relates to a three-dimensional data encoding method, a three-dimensional data decoding method, a three-dimensional data encoding device, and a three-dimensional data decoding device. Background technique [0002] Devices and services that make full use of 3D data will become widespread in the future in such large fields as computer vision, map information, monitoring, infrastructure inspection, and image distribution for autonomous operations of cars and robots. The 3D data is obtained by various methods such as a distance sensor such as a range finder, a stereo camera, or a combination of multiple monocular cameras. [0003] As one representation method of three-dimensional data, there is a representation method called a point cloud, which represents the shape of a three-dimensional structure by a point group in a three-dimensional space (see, for example, Non-Patent Document 1). The position and color of the point group are st...

Claims

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Application Information

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IPC IPC(8): G06T9/40
CPCG06T9/40G06T9/001H04N19/107H04N19/149H04N19/152H04N19/91H04N19/96
Inventor 杉尾敏康小山达也
Owner PANASONIC INTELLECTUAL PROPERTY CORP OF AMERICA
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