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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 encoding method, which is applied in image encoding, image data processing, digital video signal modification, etc., and can solve the problem of large amount of point group data.

Pending Publication Date: 2021-09-07
PANASONIC INTELLECTUAL PROPERTY CORP OF AMERICA
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  • Application Information

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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

[0211] First, the data structure of the encoded three-dimensional data (hereinafter also referred to as encoded data) according to the present embodiment will be described. figure 1 The configuration of the encoded three-dimensional data according to this embodiment is shown.

[0212] In the present embodiment, the three-dimensional space is divided into spaces (SPCs) corresponding to pictures in the encoding of moving images, and three-dimensional data is encoded in units of spaces. The space is further divided into volumes (VLMs) corresponding to macroblocks in video coding, and prediction and conversion are performed in units of VLMs. A volume includes the smallest unit, a number of voxels (VXL), corresponding to position coordinates. In addition, the prediction refers to generating predicted three-dimensional data similar to the processing unit of the processing target with reference to other processing units, and performing the prediction on the difference between the pr...

Embodiment approach 2

[0323] When the encoded data of the point cloud is used 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, such a function does not exist in the conventional encoding structure of three-dimensional data, and thus there is no encoding method corresponding to this.

[0324] In this embodiment, a three-dimensional data encoding method and a three-dimensional data encoding apparatus for providing a function of transmitting and receiving required information according to the application in encoded data of a three-dimensional point cloud, and the A three-dimensional data decoding method and a three-dimensional data decoding device for decoding encoded data.

[0325] A voxel (VXL) having a certain feature amount or more is defined as a feature voxel (FVXL), and a world space (WLD) constituted by FVXL is defined as a sparse world space (SWLD). Figure 11 A spar...

Embodiment approach 3

[0421] In this embodiment, a method of transmitting and receiving three-dimensional data between vehicles will be described. For example, transmission and reception of three-dimensional data between the own vehicle and surrounding vehicles is performed.

[0422] Figure 24 This is a block diagram of the three-dimensional data creation apparatus 620 according to the present embodiment. The three-dimensional data creation device 620 is included in, for example, the own vehicle, and generates denser third three-dimensional data 636 by synthesizing the received second three-dimensional data 635 and the first three-dimensional data 632 created by the three-dimensional data creation device 620 .

[0423] The three-dimensional data creation device 620 includes a three-dimensional 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 .

[0424] First, the three-dimensional data crea...

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Abstract

A three-dimensional data encoding method including calculating a plurality of coefficient values from the plurality of attribute information of a plurality of three-dimensional points included in point group data (S7091), generating a plurality of quantized values by quantizing each of the plurality of coefficient values (S7092), and generating a bit stream that includes the plurality of quantized values (S7093), the plurality of coefficient values belonging to one of a plurality of levels, each of the plurality of coefficient values being quantized in the quantization (S7092) using a quantization parameter for the level to which the coefficient value belongs, the bit stream including first information that indicates a reference quantization parameter and a plurality of second information for calculating a plurality of quantization parameters for a plurality of levels from the reference quantization parameter.

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 apparatus, and a three-dimensional data decoding apparatus. Background technique [0002] In the future, devices and services utilizing 3D data will be widely used in large fields such as computer vision, map information, monitoring, infrastructure inspection, or image distribution for autonomous operation 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 in which the shape of a three-dimensional structure is represented by a group of points in a three-dimensional space. The position and color of the point group are stored in the point cloud. Al...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T9/40
CPCG06T9/40H04N19/597G06T9/001H04N19/184H04N19/124G06T2207/10028H04N19/30H04N19/46
Inventor 杉尾敏康井口贺敬韩中定王驰P·拉桑
Owner PANASONIC INTELLECTUAL PROPERTY CORP OF AMERICA
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