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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

A technology of three-dimensional data and coding method, which is applied in image coding, image data processing, instruments, etc., can solve the problem of large amount of point group data, and achieve the effect of improving coding efficiency

Pending Publication Date: 2021-05-14
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 representation method of 3D data, the data volume of point group is very large

Method used

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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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Embodiment approach 1

[0171] First, the data structure of encoded three-dimensional data (hereinafter also referred to as encoded data) according to the present embodiment will be described. figure 1 is a diagram showing the configuration of encoded three-dimensional data according to this embodiment.

[0172] In the present embodiment, the three-dimensional space is divided into spaces (SPC) corresponding to pictures in encoding of moving images, and three-dimensional data is encoded in space units. The space is further divided into volumes (VLMs) equivalent to macroblocks in video coding, and prediction and transformation are performed in units of VLMs. The volume includes voxels (VXL), which are the smallest unit corresponding to position coordinates. In addition, prediction refers to generating predicted three-dimensional data similar to the processing unit of the processing target by referring to other processing units, and calculating the difference between the predicted three-dimensional da...

Embodiment approach 2

[0283] When point cloud coded data is used in an actual device or service, it is desirable to transmit and receive required information according to usage in order to suppress network bandwidth. However, such a function does not exist in the encoding structure of the three-dimensional data so far, and therefore there is no encoding method corresponding to it.

[0284] In this embodiment, a three-dimensional data coding method and a three-dimensional data coding device for providing a function of transmitting and receiving required information in accordance with usage in three-dimensional point cloud coded data, as well as the A three-dimensional data decoding method and a three-dimensional data decoding device for decoding coded data.

[0285] A voxel (VXL) having a certain feature value or more is defined as a feature voxel (FVXL), and a world space (WLD) configured with FVXL is defined as a sparse world space (SWLD). Figure 11 It is a diagram showing a configuration exampl...

Embodiment approach 3

[0381] In this embodiment, a method for transmitting and receiving three-dimensional data between vehicles will be described.

[0382] Figure 24 It is a schematic diagram showing the state of transmission and reception of three-dimensional data 607 between the own vehicle 600 and the surrounding vehicles 601 .

[0383] When the three-dimensional data is acquired by a sensor mounted on the own vehicle 600 (such as a distance sensor such as a range finder, a stereo camera, or a combination of multiple monocular cameras, etc.), due to the influence of obstacles such as the surrounding vehicle 601, although in the Within the sensor detection range 602 of the own vehicle 600 , there is an area where three-dimensional data cannot be created (hereinafter referred to as an occlusion area 604 ). In addition, although the larger the space for obtaining three-dimensional data, the higher the accuracy of autonomous actions is, however, only the sensor detection range of the own vehicle ...

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Abstract

In this three-dimensional data encoding method, first information of a first target node included in an N (N is 2 or 4) tree structure of a plurality of first three-dimensional points in a first three-dimensional point group, or second information of a second target node included in an octree structure of a plurality of second three-dimensional points in a second three-dimensional point group are encoded (S5903, S5904), wherein, in the encoding, the first information is encoded using a first encoding pattern common with a second encoding pattern used to encode the second information.

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, surveillance, infrastructure inspection, and image distribution for autonomous movement of automobiles and robots. Three-dimensional data is obtained by various methods such as distance sensors such as rangefinders, stereo cameras, 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 poin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T9/40
CPCG06T9/40G06T9/001
Inventor 杉尾敏康井口贺敬王驰P·拉桑韩中定
Owner PANASONIC INTELLECTUAL PROPERTY CORP OF AMERICA