Point cloud data compression and decompression method and device
A point cloud data and compression method technology, applied in the computer field, can solve the problems of slow compression speed, high algorithm space complexity, difficult to adapt to fast real-time compression of point cloud data, etc., to reduce space complexity and improve compression efficiency.
Pending Publication Date: 2022-04-29
BEIJING SANKUAI ONLINE TECH CO LTD
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[0004] However, due to the high space complexity of the algorithm based on the recursive division of the octree, the compression speed is slow, making it difficult to adapt to the scene that requires fast real-time compression of point cloud data.
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[0076] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this application will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the description, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present application.
[0077] At present, with the rise of the application of point cloud data, many fields can collect point cloud data and apply them in different ways. For example, point cloud data can be collected by airborne or vehicle-mounted methods, and 3D reconstruction and mapping can be performed based on the point cloud data. Usually, sensors that collect point cloud data ...
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The invention discloses a point cloud data compression and decompression method and device, and the method comprises the steps: carrying out the voxel division of a cube according to the cube surrounding point cloud data and a preset number of layers, determining each first sub-cube, carrying out the voxel division of each first sub-cube corresponding to each layer according to the preset precision of each layer, and carrying out the voxel division of each first sub-cube; and determining each second sub-cube. Determining a first identifier corresponding to each first sub-cube and a second identifier corresponding to each second sub-cube according to a preset traversal sequence; the first identifier and the second identifier corresponding to each three-dimensional point can be determined according to the second sub-cube in which each three-dimensional point in the point cloud data falls in the first sub-cube, and the compressed data corresponding to each three-dimensional point can be determined according to the first identifier and the second identifier. The cube, the number of layers and the precision can be determined in advance, so that the corresponding compression data can be determined according to the coordinates of the three-dimensional points during compression, the space complexity of an algorithm is reduced, and the compression efficiency is improved.
Description
technical field [0001] The present application relates to the field of computer technology, in particular to a point cloud data compression and decompression method and device. Background technique [0002] At present, with the development of computer technology, the application of point cloud technology is also on the rise. Due to the large amount of original point cloud data, in order to meet the needs of transmission or storage, it is often necessary to compress the original point cloud data. [0003] In the prior art, when compressing, a cube including all point cloud data is preset, and then according to the preset maximum recursion depth, the cube is recursively divided into voxels in the form of an octree until the division is satisfied. conditions. Finally, according to the preset encoding rules, all the divided cubes are encoded, and the position of each point is represented by the encoding of the smallest cubes including each point in the original point cloud dat...
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IPC IPC(8): G06T19/00
CPCG06T19/00
Inventor 谢鹏燕黄昊
Owner BEIJING SANKUAI ONLINE TECH CO LTD