Three-dimensional data processing method and three-dimensional data processing device

Abstract

To provide a 3D data processing method capable of appropriately multiplexing and transmitting point cloud data.SOLUTION: The 3D data processing method includes the steps of: generating output signals of a predetermined file structure including multiplexed multiple types of data and metadata by multiplexing multiple types of data including 3D data (S7311); and storing, in metadata, information that associates information indicating each type of multiple types of data to multiple types of data (S7312). The type information includes position information or angle information of the sensor when generating at least one type of data out of multiple types of data.SELECTED DRAWING: Figure 33

Description

[Technical field]

[0001] The present disclosure relates to a three-dimensional data multiplexing method, a three-dimensional data demultiplexing method, a three-dimensional data multiplexing device, and a three-dimensional data demultiplexing device. [Background technology]

[0002] In the future, devices and services that utilize 3D data are expected to become widespread in a wide range of fields, such as computer vision for autonomous operation of automobiles or robots, map information, monitoring, infrastructure inspection, video distribution, etc. 3D data is acquired in various ways, such as distance sensors such as range finders, stereo cameras, or a combination of multiple monocular cameras.

[0003] One method of expressing three-dimensional data is a method called a point cloud, which represents the shape of a three-dimensional structure using a group of points in a three-dimensional space. In a point cloud, the positions and colors of the points are stored. Point clouds are expected to become the mainstream method of expressing three-dimensional data, but point clouds have a very large amount of data. Therefore, when storing or transmitting three-dimensional data, it is essential to compress the amount of data by encoding, just like two-dimensional video images (examples include MPEG-4 AVC or HEVC standardized by MPEG).

[0004] In addition, compression of point clouds is partially supported by public libraries (Point Cloud Library) that perform point cloud-related processing.

[0005] Furthermore, a technique is known that uses three-dimensional map data to search for and display facilities located around a vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] International Publication No. 2014 / 020663 Summary of the Invention [Problem to be solved by the invention]

[0007] There is also a demand for a method to multiplex and transmit point cloud data.

[0008] An object of the present disclosure is to provide a three-dimensional data multiplexing method, a three-dimensional data demultiplexing method, a three-dimensional data multiplexing device, or a three-dimensional data demultiplexing device that can appropriately multiplex and transmit point cloud data. [Means for solving the problem]

[0009] A three-dimensional data processing method according to one embodiment of the present disclosure multiplexes multiple types of data including three-dimensional data, thereby generating an output signal of a predetermined file structure including the multiplexed multiple types of data and metadata, and storing type information indicating the type of each of the multiple types of data and information linking the multiple types of data in the metadata, and the type information includes position information or angle information of a sensor when at least one type of data of the multiple types of data was generated.

[0010] A three-dimensional data processing method according to one embodiment of the present disclosure obtains type information indicating the type of each of the multiple types of data and information linking the multiple types of data, which is stored in the metadata, from an output signal having a predetermined file configuration including multiple types of data including three-dimensional data multiplexed therein and metadata, and obtains the multiple types of data from the output signal using the type information, and the type information includes position information or angle information of a sensor when at least one type of data among the multiple types of data was generated. Effect of the Invention

[0011] The present disclosure can provide a three-dimensional data multiplexing method, a three-dimensional data demultiplexing method, a three-dimensional data multiplexing device, or a three-dimensional data demultiplexing device that can appropriately multiplex and transmit point cloud data. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a configuration of a three-dimensional data encoding / decoding system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a configuration of point cloud data according to the embodiment. [Diagram 3] FIG. 3 is a diagram showing an example of the structure of a data file in which point cloud data information according to the embodiment is described. [Figure 4] FIG. 4 is a diagram showing types of point cloud data according to the embodiment. [Diagram 5] FIG. 5 is a diagram illustrating a configuration of a first encoding unit according to the embodiment. [Figure 6] FIG. 6 is a block diagram of a first encoding unit according to the embodiment. [Figure 7] FIG. 7 is a diagram illustrating a configuration of a first decoding unit according to the embodiment. [Figure 8] FIG. 8 is a block diagram of a first decoding unit according to the embodiment. [Figure 9] FIG. 9 is a diagram illustrating a configuration of a second encoding unit according to the embodiment. [Figure 10] FIG. 10 is a block diagram of a second encoding unit according to the embodiment. [Figure 11] FIG. 11 is a diagram illustrating a configuration of a second decoding unit according to the embodiment. [Figure 12] FIG. 12 is a block diagram of a second decoding unit according to the embodiment. [Figure 13] FIG. 13 is a diagram showing a protocol stack related to PCC encoded data according to the embodiment. [Figure 14] FIG. 14 is a diagram illustrating an example of the configuration of a point cloud data generating device according to an embodiment. [Figure 15]FIG. 15 is a diagram illustrating an example of the configuration of a point cloud data generating device according to an embodiment. [Figure 16] FIG. 16 is a diagram illustrating an example of the configuration of a point cloud data generating device according to an embodiment. [Figure 17] FIG. 17 is a diagram illustrating an example of a configuration of a point cloud data encoding system according to an embodiment. [Figure 18] FIG. 18 is a diagram illustrating an example of the configuration of a three-dimensional data multiplexing device according to an embodiment. [Figure 19] FIG. 19 is a diagram showing a specific example of a three-dimensional data multiplexing device according to an embodiment. [Figure 20] FIG. 20 is a diagram showing the sensor ranges of various sensors according to the embodiment. [Figure 21] FIG. 21 is a diagram illustrating another example of the configuration of a three-dimensional data multiplexing device according to an embodiment. [Figure 22] FIG. 22 is a diagram showing a protocol for storing a plurality of pieces of information in a file format according to the embodiment. [Figure 23] FIG. 23 is a diagram illustrating an example of a configuration of input data according to the embodiment. [Figure 24] FIG. 24 is a diagram showing an example of the structure of a NAL unit according to an embodiment. [Diagram 25] FIG. 25 is a diagram illustrating a configuration example of an ISOBMFF according to an embodiment. [Figure 26] FIG. 26 is a diagram showing an example of the configuration of moov and mdat according to the embodiment. [Figure 27] FIG. 27 is a diagram illustrating an example of the configuration information according to the embodiment. [Figure 28] FIG. 28 is a diagram illustrating an example of the syntax of the configuration information according to the embodiment. [Figure 29] FIG. 29 is a diagram showing an example of the configuration of mdat according to the embodiment. [Diagram 30] FIG. 30 is a flowchart illustrating an example of application processing according to the embodiment. [Diagram 31]FIG. 31 is a diagram showing the sensor ranges of various sensors according to the embodiment. [Diagram 32] FIG. 32 is a diagram illustrating a configuration example of an autonomous driving system according to an embodiment. [Diagram 33] FIG. 33 is a flowchart of three-dimensional data multiplexing processing according to the embodiment. [Diagram 34] FIG. 34 is a flowchart of a three-dimensional data demultiplexing process according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] A three-dimensional data multiplexing method according to one aspect of the present disclosure generates an output signal with a predetermined file structure by multiplexing multiple types of data including point cloud data, and stores information indicating the type of each of the multiple data included in the output signal in metadata in the file structure.

[0014] According to this, the three-dimensional data multiplexing method stores information indicating the type of each of the multiple data included in the output signal in metadata in the file structure. This makes it possible for a three-dimensional data demultiplexing device that receives the output signal to easily determine the type of each data. In this way, the three-dimensional data multiplexing method can appropriately multiplex and transmit point cloud data.

[0015] For example, the information may indicate (1) the encoding scheme applied to the data, (2) the composition of the data, (3) the type of sensor that generated the data, or (4) the data format.

[0016] For example, the metadata may include synchronization information for synchronizing the times of the multiple data included in the output signal.

[0017] This makes it possible to synchronize a plurality of data in a three-dimensional data demultiplexing device that receives the output signal.

[0018] For example, the synchronization information may indicate a difference in timestamps between the multiple pieces of data.

[0019] This makes it possible to reduce the amount of data in the output signal.

[0020] A three-dimensional data demultiplexing method according to one aspect of the present disclosure obtains, from an output signal with a predetermined file structure in which multiple types of data including point cloud data are multiplexed, information indicating the type of each of multiple data included in the output signal, which is stored in metadata in the file structure, and obtains the multiple data from the output signal using the information.

[0021] According to this, the three-dimensional data demultiplexing method can easily determine the type of each data.

[0022] For example, the information may indicate (1) the encoding scheme applied to the data, (2) the composition of the data, (3) the type of sensor that generated the data, or (4) the data format.

[0023] For example, the metadata may include synchronization information for synchronizing the times of the multiple data included in the output signal.

[0024] According to this, the three-dimensional data demultiplexing method can synchronize a plurality of data.

[0025] For example, the synchronization information may indicate a difference in timestamps between the multiple pieces of data.

[0026] This makes it possible to reduce the amount of data in the output signal.

[0027] In addition, a three-dimensional data multiplexing device according to one aspect of the present disclosure includes a processor and a memory, and the processor uses the memory to multiplex multiple types of data including point cloud data to generate an output signal of a predetermined file structure, and stores information indicating the type of each of the multiple data included in the output signal in metadata in the file structure.

[0028] According to this, the three-dimensional data multiplexing device stores information indicating the type of each of the multiple data included in the output signal in metadata in the file structure. This allows the three-dimensional data demultiplexing device that receives the output signal to easily determine the type of each data. In this way, the three-dimensional data multiplexing device can appropriately multiplex and transmit point cloud data.

[0029] Moreover, a three-dimensional data demultiplexing device according to one aspect of the present disclosure includes a processor and a memory, and the processor uses the memory to obtain, from an output signal having a predetermined file structure in which multiple types of data including point cloud data are multiplexed, information indicating the types of each of the multiple data included in the output signal, the information being stored in metadata in the file structure, and to obtain the multiple data from the output signal using the information.

[0030] This allows the three-dimensional data demultiplexing device to easily determine the type of each piece of data.

[0031] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be realized as any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

[0032] Hereinafter, the embodiments will be described in detail with reference to the drawings. Note that each of the embodiments described below shows a specific example of the present disclosure. The numerical values, shapes, materials, components, arrangement and connection forms of the components, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, components that are not described in the independent claims will be described as optional components.

[0033] (Embodiment) First, the configuration of a three-dimensional data (point cloud data) encoding / decoding system according to this embodiment will be described. Fig. 1 is a diagram showing an example of the configuration of a three-dimensional data encoding / decoding system according to this embodiment. As shown in Fig. 1, the three-dimensional data encoding / decoding system includes a three-dimensional data encoding system 4601, a three-dimensional data decoding system 4602, a sensor terminal 4603, and an external connection unit 4604.

[0034] The three-dimensional data encoding system 4601 generates encoded data or multiplexed data by encoding point cloud data, which is three-dimensional data. The three-dimensional data encoding system 4601 may be a three-dimensional data encoding device realized by a single device, or may be a system realized by multiple devices. The three-dimensional data encoding device may include some of the multiple processing units included in the three-dimensional data encoding system 4601.

[0035] The three-dimensional data encoding system 4601 includes a point cloud data generation system 4611, a presentation unit 4612, an encoding unit 4613, a multiplexing unit 4614, an input / output unit 4615, and a control unit 4616. The point cloud data generation system 4611 includes a sensor information acquisition unit 4617 and a point cloud data generation unit 4618.

[0036] The sensor information acquisition unit 4617 acquires sensor information from the sensor terminal 4603, and outputs the sensor information to the point cloud data generation unit 4618. The point cloud data generation unit 4618 generates point cloud data from the sensor information, and outputs the point cloud data to the encoding unit 4613.

[0037] The presentation unit 4612 presents the sensor information or the point cloud data to the user. For example, the presentation unit 4612 displays information or an image based on the sensor information or the point cloud data.

[0038] The encoding unit 4613 encodes (compresses) the point cloud data, and outputs the obtained encoded data, control information obtained in the encoding process, and other additional information to the multiplexing unit 4614. The additional information includes, for example, sensor information.

[0039] The multiplexing unit 4614 generates multiplexed data by multiplexing the coded data, control information, and additional information input from the coding unit 4613. The format of the multiplexed data is, for example, a file format for storage, or a packet format for transmission.

[0040] The input / output unit 4615 (e.g., a communication unit or an interface) outputs the multiplexed data to the outside. Alternatively, the multiplexed data is stored in a storage unit such as an internal memory. The control unit 4616 (or an application execution unit) controls each processing unit. In other words, the control unit 4616 controls encoding, multiplexing, etc.

[0041] The sensor information may be input to the encoding unit 4613 or the multiplexing unit 4614. Furthermore, the input / output unit 4615 may output the point cloud data or the encoded data directly to the outside.

[0042] The transmission signal (multiplexed data) output from the three-dimensional data encoding system 4601 is input to the three-dimensional data decoding system 4602 via the external connection unit 4604.

[0043] The three-dimensional data decoding system 4602 generates point cloud data, which is three-dimensional data, by decoding the encoded data or multiplexed data. The three-dimensional data decoding system 4602 may be a three-dimensional data decoding device realized by a single device, or may be a system realized by multiple devices. The three-dimensional data decoding device may also include some of the multiple processing units included in the three-dimensional data decoding system 4602.

[0044] The three-dimensional data decoding system 4602 includes a sensor information acquisition unit 4621 , an input / output unit 4622 , a demultiplexing unit 4623 , a decoding unit 4624 , a presentation unit 4625 , a user interface 4626 , and a control unit 4627 .

[0045] The sensor information acquisition unit 4621 acquires sensor information from the sensor terminal 4603 .

[0046] The input / output unit 4622 acquires a transmission signal, decodes multiplexed data (file format or packets) from the transmission signal, and outputs the multiplexed data to the demultiplexer 4623.

[0047] The demultiplexer 4623 obtains the coded data, control information, and additional information from the multiplexed data, and outputs the coded data, control information, and additional information to the decoder 4624.

[0048] The decoding unit 4624 reconstructs the point cloud data by decoding the encoded data.

[0049] The presentation unit 4625 presents the point cloud data to the user. For example, the presentation unit 4625 displays information or an image based on the point cloud data. The user interface 4626 acquires an instruction based on a user's operation. The control unit 4627 (or the application execution unit) controls each processing unit. That is, the control unit 4627 controls demultiplexing, decoding, presentation, etc.

[0050] The input / output unit 4622 may obtain the point cloud data or the encoded data directly from the outside. The presentation unit 4625 may obtain additional information such as sensor information and present information based on the additional information. The presentation unit 4625 may present information based on a user instruction obtained by the user interface 4626.

[0051] The sensor terminal 4603 generates sensor information obtained by a sensor. The sensor terminal 4603 is a terminal equipped with a sensor or a camera, and examples of the sensor terminal include a moving body such as an automobile, a flying object such as an airplane, a mobile terminal, and a camera.

[0052] The sensor information that can be acquired by the sensor terminal 4603 is, for example, (1) the distance (location information) between the sensor terminal 4603 and an object, the color, or the reflectance of the object obtained from a LIDAR, millimeter wave radar, or an infrared sensor, and (2) the distance (location information) between a camera and an object obtained from a plurality of monocular camera images or stereo camera images, the color, or the reflectance of the object. The sensor information may also include the attitude, direction, gyro (angular velocity), position (GPS information or altitude), speed, acceleration, or the acquisition time of the sensor information. The sensor information may also include temperature, air pressure, humidity, magnetism, etc.

[0053] The external connection unit 4604 is realized by an integrated circuit (LSI or IC), an external storage unit, communication with a cloud server via the Internet, broadcasting, or the like.

[0054] Next, the point cloud data will be described. Fig. 2 is a diagram showing the configuration of the point cloud data. Fig. 3 is a diagram showing an example of the configuration of a data file in which information on the point cloud data is written.

[0055] Point cloud data includes data on multiple points. The data on each point includes position information (three-dimensional coordinates) and attribute information for that position information. A collection of multiple points is called a point cloud. For example, a point cloud may represent the three-dimensional shape of an object.

[0056] Position information such as three-dimensional coordinates is sometimes called geometry. Data for each point may include attribute information of multiple attribute types. The attribute types may be, for example, color or reflectance.

[0057] One piece of attribute information may be associated with one piece of location information, or multiple pieces of attribute information having different attribute types may be associated with one piece of location information, or multiple pieces of attribute information of the same attribute type may be associated with one piece of location information.

[0058] The configuration example of the data file shown in FIG. 3 is an example in which position information and attribute information correspond one-to-one, and shows the position information and attribute information of N points that make up the point cloud data.

[0059] The position information is, for example, information on three axes, x, y, and z. The attribute information is, for example, RGB color information. A typical data file is a ply file.

[0060] Next, the types of point cloud data will be described. Fig. 4 is a diagram showing the types of point cloud data. As shown in Fig. 4, point cloud data includes static objects and dynamic objects.

[0061] A static object is 3D point cloud data at any time (a certain time). A dynamic object is 3D point cloud data that changes over time. Hereinafter, 3D point cloud data at a certain time will be referred to as a PCC frame, or a frame.

[0062] The object may be a point cloud whose area is restricted to a certain extent, such as ordinary video data, or a large-scale point cloud whose area is not restricted, such as map information.

[0063] Also, there may be point cloud data of various densities, and there may be sparse point cloud data and dense point cloud data.

[0064] The details of each processing unit will be described below. The sensor information is acquired by various methods such as a distance sensor such as a LIDAR or a range finder, a stereo camera, or a combination of multiple monocular cameras. The point cloud data generation unit 4618 generates point cloud data based on the sensor information acquired by the sensor information acquisition unit 4617. The point cloud data generation unit 4618 generates position information as point cloud data, and adds attribute information for the position information to the position information.

[0065] The point cloud data generating unit 4618 may process the point cloud data when generating the position information or adding the attribute information. For example, the point cloud data generating unit 4618 may reduce the amount of data by deleting point clouds with overlapping positions. In addition, the point cloud data generating unit 4618 may convert the position information (position shift, rotation, normalization, etc.) or render the attribute information.

[0066] In FIG. 1, the point cloud data generation system 4611 is included in the three-dimensional data encoding system 4601, but it may be provided independently outside the three-dimensional data encoding system 4601.

[0067] The encoding unit 4613 generates encoded data by encoding the point cloud data based on a predefined encoding method. There are two main types of encoding methods: the first is an encoding method using position information, and this encoding method will be referred to as the first encoding method hereinafter; the second is an encoding method using a video codec, and this encoding method will be referred to as the second encoding method hereinafter.

[0068] The decoding unit 4624 decodes the encoded data based on a predefined encoding method to decode the point group data.

[0069] The multiplexing unit 4614 generates multiplexed data by multiplexing the encoded data using an existing multiplexing method. The generated multiplexed data is transmitted or stored. In addition to the PCC encoded data, the multiplexing unit 4614 multiplexes other media such as video, audio, subtitles, applications, and files, or reference time information. The multiplexing unit 4614 may further multiplex attribute information related to sensor information or point cloud data.

[0070] Multiplexing methods or file formats include ISOBMFF, MPEG-DASH, which is an ISOBMFF-based transmission method, MMT, MPEG-2 TS Systems, and RMP.

[0071] The demultiplexer 4623 extracts the PCC encoded data, other media, time information, and the like from the multiplexed data.

[0072] The input / output unit 4615 transmits the multiplexed data using a method suited to a transmission medium or a storage medium, such as broadcasting or communication. The input / output unit 4615 may communicate with other devices via the Internet, or may communicate with a storage unit such as a cloud server.

[0073] The communication protocol used may be http, ftp, TCP, UDP, IP, etc. A PULL type communication method or a PUSH type communication method may be used.

[0074] Either wired transmission or wireless transmission may be used. For wired transmission, Ethernet (registered trademark), USB, RS-232C, HDMI (registered trademark), coaxial cable, etc. are used. For wireless transmission, 3G / 4G / 5G, wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), millimeter wave, etc., as defined by IEEE of 3GPP (registered trademark) are used.

[0075] As a broadcasting system, for example, DVB-T2, DVB-S2, DVB-C2, ATSC3.0, or ISDB-S3 is used.

[0076] Fig. 5 is a diagram showing a configuration of a first encoding unit 4630 which is an example of the encoding unit 4613 that performs encoding using the first encoding method. Fig. 6 is a block diagram of the first encoding unit 4630. The first encoding unit 4630 generates encoded data (encoded stream) by encoding point cloud data using the first encoding method. The first encoding unit 4630 includes a position information encoding unit 4631, an attribute information encoding unit 4632, an additional information encoding unit 4633, and a multiplexing unit 4634.

[0077] The first encoding unit 4630 has a feature of performing encoding in consideration of a three-dimensional structure. Also, the first encoding unit 4630 has a feature that the attribute information encoding unit 4632 performs encoding using information obtained from the position information encoding unit 4631. The first encoding method is also called GPCC (Geometry based PCC).

[0078] The point cloud data is PCC point cloud data such as a PLY file, or PCC point cloud data generated from sensor information, and includes position information (Position), attribute information (Attribute), and other additional information (MetaData). The position information is input to a position information encoding unit 4631, the attribute information is input to an attribute information encoding unit 4632, and the additional information is input to an additional information encoding unit 4633.

[0079] The position information encoding unit 4631 generates encoded position information (Compressed Geometry) that is encoded data by encoding the position information. For example, the position information encoding unit 4631 encodes the position information using an N-ary tree structure such as an octet tree. Specifically, in the octet tree, the target space is divided into eight nodes (subspaces), and 8-bit information (occupancy code) indicating whether or not a point cloud is included in each node is generated. In addition, the node that includes the point cloud is further divided into eight nodes, and 8-bit information indicating whether or not a point cloud is included in each of the eight nodes is generated. This process is repeated until the number of point clouds included in a predetermined hierarchy or node is equal to or less than a threshold value.

[0080] The attribute information encoding unit 4632 generates encoded attribute information (Compressed Attribute) that is encoded data by encoding using the configuration information generated by the position information encoding unit 4631. For example, the attribute information encoding unit 4632 determines a reference point (reference node) to be referenced in encoding a target point (target node) to be processed based on the octree structure generated by the position information encoding unit 4631. For example, the attribute information encoding unit 4632 refers to a node, among peripheral nodes or adjacent nodes, whose parent node in the octree is the same as that of the target node. Note that the method of determining the reference relationship is not limited to this.

[0081] Furthermore, the encoding process of the attribute information may include at least one of a quantization process, a prediction process, and an arithmetic coding process. In this case, the reference means using a reference node to calculate a predicted value of the attribute information, or using a state of the reference node (e.g., occupancy information indicating whether or not a point group is included in the reference node) to determine a parameter of the encoding. For example, the parameter of the encoding is a quantization parameter in the quantization process, or a context in the arithmetic coding.

[0082] The additional information encoding unit 4633 generates encoded additional information (Compressed MetaData) that is encoded data by encoding compressible data from the additional information.

[0083] The multiplexing unit 4634 multiplexes the encoding position information, the encoding attribute information, the encoding additional information, and other additional information to generate an encoded stream (Compressed Stream) that is encoded data. The generated encoded stream is output to a processing unit of a system layer (not shown).

[0084] Next, a first decoding unit 4640 which is an example of the decoding unit 4624 that performs decoding of the first encoding method will be described. FIG. 7 is a diagram showing a configuration of the first decoding unit 4640. FIG. 8 is a block diagram of the first decoding unit 4640. The first decoding unit 4640 generates point group data by decoding, by the first encoding method, encoded data (encoded stream) encoded by the first encoding method. The first decoding unit 4640 includes a demultiplexing unit 4641, a position information decoding unit 4642, an attribute information decoding unit 4643, and an additional information decoding unit 4644.

[0085] A coded stream (compressed stream), which is coded data, is input to the first decoding unit 4640 from a processing unit in a system layer (not shown).

[0086] The demultiplexer 4641 separates the encoded position information (Compressed Geometry), the encoded attribute information (Compressed Attribute), the encoded additional information (Compressed MetaData), and other additional information from the encoded data.

[0087] The position information decoding unit 4642 generates position information by decoding the encoded position information. For example, the position information decoding unit 4642 restores the position information of a point group represented by three-dimensional coordinates from the encoded position information represented by an N-ary tree structure such as an octree.

[0088] The attribute information decoding unit 4643 decodes the encoded attribute information based on the configuration information generated by the position information decoding unit 4642. For example, the attribute information decoding unit 4643 determines a reference point (reference node) to be referenced in decoding a target point (target node) to be processed based on the octree structure obtained by the position information decoding unit 4642. For example, the attribute information decoding unit 4643 refers to a node, among peripheral nodes or adjacent nodes, whose parent node in the octree is the same as that of the target node. Note that the method of determining the reference relationship is not limited to this.

[0089] In addition, the decoding process of the attribute information may include at least one of an inverse quantization process, a prediction process, and an arithmetic decoding process. In this case, the reference means using a reference node to calculate a predicted value of the attribute information, or using a state of the reference node (e.g., occupancy information indicating whether or not a point group is included in the reference node) to determine a parameter of the decoding. For example, the parameter of the decoding is a quantization parameter in the inverse quantization process, or a context in the arithmetic decoding.

[0090] The additional information decoding unit 4644 generates additional information by decoding the encoded additional information. The first decoding unit 4640 uses the additional information required for decoding the position information and attribute information during decoding, and outputs the additional information required for an application to the outside.

[0091] Next, a second encoding unit 4650, which is an example of the encoding unit 4613 that performs encoding by the second encoding method, will be described. Fig. 9 is a diagram showing a configuration of the second encoding unit 4650. Fig. 10 is a block diagram of the second encoding unit 4650.

[0092] The second encoding unit 4650 generates encoded data (encoded stream) by encoding the point cloud data by a second encoding method. The second encoding unit 4650 includes an additional information generating unit 4651, a position image generating unit 4652, an attribute image generating unit 4653, a video encoding unit 4654, an additional information encoding unit 4655, and a multiplexing unit 4656.

[0093] The second encoding unit 4650 has a feature of generating a position image and an attribute image by projecting a three-dimensional structure onto a two-dimensional image, and encoding the generated position image and attribute image using an existing video encoding method. The second encoding method is also called VPCC (Video based PCC).

[0094] The point cloud data is PCC point cloud data such as a PLY file, or PCC point cloud data generated from sensor information, and includes position information (Position), attribute information (Attribute), and other additional information (MetaData).

[0095] The additional information generating unit 4651 generates map information of a plurality of two-dimensional images by projecting a three-dimensional structure onto the two-dimensional images.

[0096] The position image generating unit 4652 generates a position image (Geometry Image) based on the position information and the map information generated by the additional information generating unit 4651. This position image is, for example, a distance image in which distance (Depth) is indicated as a pixel value. Note that this distance image may be an image in which a plurality of point clouds are viewed from one viewpoint (an image in which a plurality of point clouds are projected onto one two-dimensional plane), a plurality of images in which a plurality of point clouds are viewed from multiple viewpoints, or a single image in which these multiple images are integrated.

[0097] The attribute image generating unit 4653 generates an attribute image based on the attribute information and the map information generated by the additional information generating unit 4651. This attribute image is, for example, an image in which the attribute information (for example, color (RGB)) is indicated as pixel values. Note that this image may be an image in which multiple point clouds are viewed from one viewpoint (an image in which multiple point clouds are projected onto one two-dimensional plane), or multiple images in which multiple point clouds are viewed from multiple viewpoints, or a single image in which these multiple images are integrated.

[0098] The video encoding unit 4654 generates an encoded position image (Compressed Geometry Image) and an encoded attribute image (Compressed Attribute Image), which are encoded data, by encoding the position image and the attribute image using a video encoding method. Note that any known encoding method may be used as the video encoding method. For example, the video encoding method is AVC, HEVC, or the like.

[0099] The additional information encoding unit 4655 generates encoded additional information (Compressed MetaData) by encoding the additional information and map information included in the point cloud data.

[0100] The multiplexing unit 4656 generates a compressed stream, which is encoded data, by multiplexing the encoded position image, the encoded attribute image, the encoded additional information, and other additional information. The generated compressed stream is output to a processing unit of a system layer (not shown).

[0101] Next, a second decoding unit 4660 which is an example of the decoding unit 4624 that performs decoding of the second encoding method will be described. FIG. 11 is a diagram showing a configuration of the second decoding unit 4660. FIG. 12 is a block diagram of the second decoding unit 4660. The second decoding unit 4660 generates point group data by decoding, by the second encoding method, encoded data (encoded stream) encoded by the second encoding method. The second decoding unit 4660 includes a demultiplexing unit 4661, a video decoding unit 4662, an additional information decoding unit 4663, a position information generating unit 4664, and an attribute information generating unit 4665.

[0102] A compressed stream, which is encoded data, is input to the second decoding unit 4660 from a processing unit in a system layer (not shown).

[0103] The demultiplexer 4661 separates the encoded position image (Compressed Geometry Image), the encoded attribute image (Compressed Attribute Image), the encoded additional information (Compressed MetaData), and other additional information from the encoded data.

[0104] The video decoding unit 4662 generates a position image and an attribute image by decoding the encoded position image and the encoded attribute image using a video encoding method. Note that any known encoding method may be used as the video encoding method. For example, the video encoding method is AVC or HEVC.

[0105] The additional information decoding unit 4663 decodes the encoded additional information to generate additional information including map information and the like.

[0106] The position information generating unit 4664 generates position information using the position image and map information. The attribute information generating unit 4665 generates attribute information using the attribute image and map information.

[0107] The second decoding unit 4660 uses the additional information necessary for decoding during decoding, and outputs the additional information necessary for an application to the outside.

[0108] The PCC encoding method will be described below. Fig. 13 is a diagram showing a protocol stack related to PCC encoded data. Fig. 13 shows an example in which other media data such as video (e.g., HEVC) or audio, or sensor information is multiplexed with PCC encoded data and transmitted or stored.

[0109] The multiplexing method and file format have the function of multiplexing various encoded data and transmitting or storing them. In order to transmit or store the encoded data, the encoded data is converted into the format of the multiplexing method. For example, HEVC specifies a technology for storing encoded data in a data structure called a NAL unit and storing the NAL unit in ISOBMFF.

[0110] A similar configuration is assumed for PCC. The sensor information may be PCC-coded together with the point cloud data, or may be coded using a different coding method, or may be stored directly in the multi-layer without being coded, or these may be combined. The different coding method may be, in particular, a different three-dimensional coding method, or a coding method that codes the data obtained by converting the point cloud data into two-dimensional or one-dimensional data.

[0111] An example of a configuration for generating point cloud data from a sensor signal (also called sensor information) will be described below. Fig. 14 to Fig. 16 are diagrams illustrating an example of a configuration of a point cloud data generating device that generates point cloud data from a sensor signal.

[0112] The point cloud data generating device shown in Fig. 14 generates point cloud data from a sensor signal obtained from one sensing device 7301. The point cloud data generating device shown in Fig. 14 includes the sensing device 7301, a sensor information input unit 7302, and a point cloud data generating unit 7303. The sensor information input unit 7302 acquires the sensor signal obtained by the sensing device 7301. The point cloud data generating unit 7303 generates point cloud data from the sensor signal acquired by the sensor information input unit 7302. The generated point cloud data is output to, for example, a subsequent point cloud data encoding unit (not shown).

[0113] As shown in FIG. 15, point cloud data may be generated based on sensor signals obtained from two or more sensing devices. The point cloud data generating apparatus shown in FIG. 15 includes sensing devices 7301A and 7301B, sensor information input units 7302A and 7302B, and a point cloud data generating unit 7303A. The sensor information input unit 7302A acquires a first sensor signal acquired by the sensing device 7301A. The sensor information input unit 7302B acquires a second sensor signal acquired by the sensing device 7301B. The point cloud data generating unit 7303A generates point cloud data from the two sensor signals acquired by the sensor information input units 7302A and 7302B. The generated point cloud data is output to, for example, a subsequent point cloud data encoding unit (not shown).

[0114] The point cloud data generating apparatus shown in Fig. 16 includes a sensing device 7301C, a sensor information input unit 7302C, and a point cloud data generating unit 7303C. The sensing device 7301C generates a sensor signal by merging two pieces of information sensed using two or more sensing methods in a predetermined manner. The sensing device 7301C includes sensing units 7304A and 7304B, and a merging unit 7305.

[0115] The sensing unit 7304A generates a first sensor signal by a first sensing method. The sensing unit 7304B generates a second sensor signal by a second sensing method. The merging unit 7305 merges the first sensor signal and the second sensor signal, and outputs the generated sensor signal to the sensor information input unit 7302C.

[0116] The merging unit 7305 may select one of the first sensor signal and the second sensor signal based on a predetermined condition and output the selected sensor signal. When merging two sensor signals, the merging unit 7305 may change a weighting coefficient used for merging.

[0117] For example, the merge unit 7305 may determine which sensor signal to select based on the acquired sensor signal, or based on another sensor signal.

[0118] For example, the first sensing method and the second sensing method may have different sensor parameters, different sensing frequencies or different mechanisms, etc. The center signal may include information indicating the sensing method or the parameters used during sensing.

[0119] When switching between a plurality of sensing methods, the merging unit 7305 may include, in the sensor signal, information indicating which sensing method was used or data on a criterion for switching. When merging sensor signals, the merging unit 7305 may include, in the sensor signal, information for identifying the merged sensing method, data on a criterion for merging, or a merging coefficient.

[0120] Furthermore, the sensing device 7301C may output a plurality of sensor signals. Furthermore, the sensing device 7301C may output, as the plurality of sensor signals, an absolute value of a first sensor signal and a difference value between the first sensor signal and a second sensor signal.

[0121] The sensor signal may also include information indicating the relationship between the first sensing method and the second sensing method. For example, the sensor signal may include an absolute value or a relative value of reference position information between the first sensing method and the second sensing method, or may include information indicating the acquisition time of the sensor signal, reference time information, or the angle of the sensor. By including such information in the sensor signal, it becomes possible to correct or combine the relationship between the two sensor signals based on such information in subsequent processing.

[0122] The sensor information input unit 7302C acquires a sensor signal obtained by the sensing device 7301C. The point cloud data generation unit 7303C generates point cloud data from the sensor signal acquired by the sensor information input unit 7302C. The generated point cloud data is output to, for example, a subsequent point cloud data encoding unit (not shown).

[0123] In this way, the point cloud data generating device generates point cloud data based on any one or more of the various sensor signals described above. Note that the point cloud data generating device may correct position information or attribute information of points in the process of generating the point cloud data.

[0124] The point cloud data generating device may have any of the configurations shown in Figures 14 to 16, or may have a combination of two or more of these configurations. The point cloud data generating device may use a fixed method, or may adaptively change the method to be used depending on, for example, the purpose of sensing or the use case.

[0125] Next, a configuration example of a point cloud data encoding system according to this embodiment will be described. Fig. 17 is a diagram showing a configuration example of a point cloud data encoding system according to this embodiment. The point cloud data encoding system shown in Fig. 17 includes a first device 7310 and a second device 7320.

[0126] The first device 7310 includes a sensing unit 7311 and an output I / F (interface) 7312. The second device 7320 includes a sensing unit 7321, an output I / F 7322, an input I / F 7323, and a processing unit 7324. The processing unit 7324 includes a point cloud data generation unit 7325 and an encoding unit 7326.

[0127] The sensing unit 7311 or 7321 may be included in the same hardware or device as the processing unit 7324 constituted by a CPU or the like, or may be included in different hardware or device.

[0128] The sensing unit 7321 is included in the same device (second device 7320) as the processing unit 7324. In this case, an output signal (called RAW data) of the sensing unit 7321 is input to the point cloud data generation unit 7325 as it is.

[0129] The sensing unit 7311 is included in a device (first device 7310) different from the processing unit 7324. In this case, the RAW data output from the sensing unit 7311 is converted into an input / output format (external output format) in the output I / F 7312, and the formatted signal is input to the second device 7320. The input I / F 7323 included in the second device 7320 converts the formatted signal into RAW data, and outputs the obtained RAW data to the point cloud data generation unit 7325. The output I / F 7312 and the input I / F 7323 have, for example, the functions of the multiplexing unit 4614 and the input / output unit 4615 shown in FIG. 1.

[0130] In addition, an output signal (RAW data) from a sensing unit 7321, which is included in the same device as the processing unit 7324, may be converted into an input / output format by an output I / F 7322, the formatted signal may be converted into RAW data by an input I / F 7323, and the obtained RAW data may be input to a point cloud data generation unit 7325.

[0131] Furthermore, when multiple sensor signals are input, for example, when sensor signals input from other devices and sensor signals input from the same device are mixed, these sensor signals may be converted into the same format. Furthermore, during conversion, each signal may be assigned an identifier that can identify the signal. For example, when transmission is performed using UDP (User Datagram Protocol), each signal may be identified by IP (Internet Protocol) or UDP source address or source port number. This makes it possible to unify the format input to the point cloud data generation unit 7325, making it easier to control the signals.

[0132] The point cloud data generating unit 7325 generates point cloud data using the input RAW data. The encoding unit 7326 encodes the generated point cloud data.

[0133] Next, a configuration example of a three-dimensional data multiplexing device (three-dimensional data multiplexing system) according to this embodiment will be described. Fig. 18 is a diagram showing a configuration example of a three-dimensional data multiplexing device according to this embodiment. The three-dimensional data multiplexing device generates an output signal by encoding and multiplexing various sensor signals, and stores or transmits the generated output signal.

[0134] As shown in Fig. 18, the three-dimensional data multiplexing device includes sensing units 7331A, 7331B, and 7331C, sensor information input units 7332A, 7332B, and 7332C, point cloud data generating units 7333A and 7333B, encoding units 7334A and 7334B, a synchronization unit 7335, and a multiplexing unit 7336. Here, an example in which three sensing units are used is shown, but the number of sensing units is not limited to this. In addition, any combination of the following processing methods can be used as a processing method for sensor signals from each sensing unit.

[0135] The sensor information input unit 7332A acquires a first sensor signal generated by sensing in the sensing unit 7331 A. The sensor information input unit 7332B acquires a second sensor signal generated by sensing in the sensing unit 7331 B. The sensor information input unit 7332C acquires a third sensor signal generated by sensing in the sensing unit 7331 C.

[0136] The point cloud data generating unit 7333A generates first point cloud data from the first sensor signal. The point cloud data generating unit 7333B generates second point cloud data from the second sensor signal. At this time, the number of points, the range of points, and attribute information in the generated point cloud data may differ due to differences in the sensing methods used by the sensing units 7331A and 7331B (e.g., direction, range, obtainable attributes, frequency, resolution, method, or means).

[0137] The encoding unit 7334A generates first encoded data by encoding the first point cloud data. The encoding unit 7334B generates second encoded data by encoding the second point cloud data. For example, the encoding unit 7334A and the encoding unit 7334B apply different encoding methods. For example, the encoding unit 7334A may use a first encoding method, and the encoding unit 7334B may use a second encoding method different from the first encoding method. Note that the encoding unit 7334A and the encoding unit 7334B may use the same encoding method.

[0138] The encoding units 7334A and 7334B may compress position information or attribute information of points in the point cloud data using entropy coding, etc. Furthermore, the encoding units 7334A and 7334B may store sensor signals, position information or angle information of the sensors, time information, or the like as metadata.

[0139] The encoding units 7334A and 7334B use an encoding method suitable for the point cloud data. For example, the first encoding method is an encoding method that can be expected to have a high encoding rate for map information or still content, and the second encoding method is an encoding method that can be expected to have a high encoding rate for content such as AR or VR. In this case, the encoding units 7334A and 7334B may use an encoding method suitable for the content.

[0140] Alternatively, for example, the first encoding method is an encoding method that can be expected to achieve a high encoding rate for a point cloud based on information sensed by a sensing unit such as a beam LiDAR, and the second encoding method is an encoding method that can be expected to achieve a high encoding rate for a point cloud based on information sensed by a sensing unit such as a FLASH LiDAR. In this case, the encoding units 7334A and 7334B may use encoding methods suitable for the sensing units.

[0141] Furthermore, instead of changing the encoding method, the encoding units 7334A and 7334B may use an encoding tool or encoding-related parameters suitable for the content or the sensing unit in the same encoding method.

[0142] The generated first coded data and second coded data are input to the multiplexing unit 7336. For example, a third sensor signal sensed by the sensing unit 7331C is data that does not need to be coded. In this case, point cloud data is not generated and coded, and the third sensor signal is directly input to the multiplexing unit 7336. Note that coding may not be performed for the purpose of low-latency transmission.

[0143] The synchronization unit 7335 has a function for synchronizing a plurality of sensing units. For example, the synchronization unit 7335 uses sensing time information, time stamp information, angle information, and the like as information related to synchronization. Such information related to synchronization may be multiplexed into an output signal as a synchronization signal that is common information. Alternatively, such information related to synchronization may be included in each sensor signal.

[0144] The multiplexing unit 7336 generates an output signal by multiplexing one or more of the coded data, the metadata, the raw data of the sensor signal, and the synchronization signal. The multiplexing unit 7336 also stores, in the output signal, information for identifying each data and information indicating the correspondence between each data.

[0145] FIG. 19 is a diagram showing a specific example of a three-dimensional data multiplexing device. As shown in FIG. 19, a beam LiDAR is used as the sensing unit 7331A, and a FLASH LiDAR is used as the sensing unit 7331B. The range and distance of the point cloud, as well as the resolution, vary depending on the characteristics of the LiDAR. FIG. 20 is a diagram showing an example of the sensor range of the beam LiDAR and the FLASH LiDAR. For example, the beam LiDAR detects all directions around the vehicle (sensor), and the FLASH LiDAR detects a range in one direction (for example, forward) of the vehicle.

[0146] The point cloud data generating unit 7333A generates first point cloud data based on distance information and reflectance information for the beam irradiation angle acquired from the beam LiDAR. The point cloud data generating unit 7333B generates second point cloud data based on two-dimensional distance information and reflectance acquired from the FLASH LiDAR. The point cloud data generating units 7333A and 7333B may further use two-dimensional color information acquired by the camera to generate point cloud data having both color information and reflectance.

[0147] In addition, an in-vehicle sensor that is a position information sensor such as a three-axis gyro sensor, a three-axis acceleration sensor, or a GPS is used as the sensing unit 7331C. These sensor information are sensor information that represent the overall state of the vehicle, and can also be said to be common information related to the first sensor signal and the second sensor signal. These common sensor information may be encoded and multiplexed, or may be multiplexed without being encoded. In addition, these pieces of information may be stored in the first sensor signal or the second sensor signal as additional information common to the point cloud data and encoded. Alternatively, the common sensor information may be stored in one of the first sensor signal and the second sensor signal. In this case, information indicating which sensor signal the common sensor information is stored in may be indicated, for example, in the other sensor signal or the synchronization signal.

[0148] In addition, as information regarding the time of acquiring the sensor, a time stamp based on reference time information such as NTP (Network Time Protocol) or PTP (Precision Time Protocol) is added to the first point cloud data based on the beam LiDAR and the second point cloud data based on the FLASH LiDAR. The time stamps of the sensors are synchronized with a common reference time and are encoded by the encoding units 7334A and 7334B.

[0149] Furthermore, reference time information indicating a common reference time may be multiplexed as a synchronization signal. The reference time information does not have to be multiplexed. The three-dimensional data demultiplexing device (three-dimensional data decoding device) acquires each timestamp from the encoded data of the multiple sensor signals. Since the timestamps are synchronized to the common reference time, the three-dimensional data demultiplexing device can synchronize between the multiple sensors by operating the decoded data of the multiple sensor signals based on each timestamp.

[0150] Note that time information corresponding to each beam LiDAR and FLASH LiDAR may be set. Also, a triaxial sensor may be provided for each beam LiDAR and FLASH LiDAR. In this case, a common time such as Internet time is used as the NTP for each. Also, each triaxial sensor is calibrated in advance, and multiple triaxial sensors that are synchronized in advance are used.

[0151] Fig. 21 is a diagram showing another example of the configuration of a three-dimensional data multiplexing device. As shown in Fig. 21, the three-dimensional data multiplexing device includes sensing units 7341A, 7341B, and 7341C, input / output units 7342A, 7342B, and 7342C, a point cloud data generating unit 7343, encoding units 7344A and 7344B, a synchronization unit 7345, and a multiplexing unit 7346.

[0152] The input / output unit 7342A acquires a first sensor signal generated by sensing in the sensing unit 7341A. The input / output unit 7342B acquires a second sensor signal generated by sensing in the sensing unit 7341B. The input / output unit 7342C acquires a third sensor signal generated by sensing in the sensing unit 7341C. Note that the input / output units 7342A, 7342B, and 7342C may have a memory that stores the acquired sensor signals.

[0153] The point cloud data generating unit 7343 generates first point cloud data from the first sensor signal. The encoding unit 7344A generates first encoded data by encoding the first point cloud data. The encoding unit 7344B generates second encoded data by encoding the second sensor information.

[0154] The synchronization unit 7345 has a function for synchronizing a plurality of sensing units. The multiplexing unit 7346 generates an output signal by multiplexing one or more of the coded data, the metadata, the raw data of the sensor signal, and the synchronization signal.

[0155] Thus, in the configuration shown in FIG. 21, point cloud data is not generated from the sensor signal (RAW data) obtained by the sensing unit 7341B, and the sensor signal is encoded as RAW data. For example, when the second sensor signal is two-dimensional information obtained by a CMOS sensor such as a FLASH LiDAR or a camera, the encoding unit 7344B encodes the second sensor signal using a video codec such as AVC or HEVC. This makes it possible to realize encoding with high encoding efficiency. In addition, by utilizing existing codecs, it is possible to build a low-cost system.

[0156] In this way, the three-dimensional data multiplexing device uses both a means for encoding point cloud data after conversion and a means for encoding RAW data without converting it to point cloud data, depending on the sensing unit, and multiplexes each of the encoded data.

[0157] Next, an example of a method for generating an output signal of a predetermined file format by multiplexing will be described. In the following, an example will be described in which the predetermined file format is ISOBMFF (ISO based media file format). Note that the file format is not limited to ISOBMFF, and other file formats may be used.

[0158] ISOBMFF is a file format standard defined in ISO / IEC 14496-12. ISOBMFF specifies a format that can store multiplexed data of various media such as video, audio, and text, and is a media-independent standard.

[0159] The method of storing each type of media in ISOBMFF is specified separately. For example, the method of storing AVC video and HEVC video is specified in ISO / IEC14496-15.

[0160] On the other hand, a method is required to store the encoded data of the data acquired from multiple sensor information (sensor signals) in ISOBMFF. Fig. 22 is a diagram showing a protocol for encoding multiple pieces of sensor information using various encoding methods and storing them in ISOBMFF.

[0161] Data1 to Data5 are sensor data (sensor signals) acquired from various types of sensors, such as RAW data. Data1 and Data2 are converted into a 3D point cloud format and encoded using the encoding method Codec1 or Codec2 for the 3D point cloud format. Data3 and Data4 are converted into a 2D data format such as an image, and encoded using the encoding method Codec3 or Codec4 for the 2D data format.

[0162] Each piece of encoded data is converted into an NAL unit by a predetermined method and stored in the ISOBMFF. The NAL unit may be in a common format for the 3D format and the 2D format, or may be in a different format. The NAL units of the different encoding methods may be in a common format, or may be in a different format. The format of the sensor data may be a 1D format or other format in addition to the 3D and 2D formats listed here.

[0163] Data5 is a case where sensor data acquired from a sensor is stored directly in ISOBMFF without being encoded.

[0164] By providing a format for storing any combination of these data in an integrated manner, it becomes easier to manage data in a system that handles multiple sensors, and it becomes possible to realize a variety of functions.

[0165] Next, the structure of ISOBMFF will be described. The three-dimensional data multiplexing device stores a plurality of sensor data in ISOBMFF. Fig. 23 is a diagram showing a structure example of input data to be multiplexed. Fig. 24 is a diagram showing a structure example of an NAL unit. Fig. 25 is a diagram showing a structure example of ISOBMFF. Fig. 26 is a diagram showing a structure example of moov and mdat.

[0166] The coded data included in the input data is roughly divided into coded data (Data) and metadata (Meta). Metadata includes metadata indicated in the header of each coded data and metadata stored in an independent NAL unit as a parameter set. Metadata may also be included in coded data. The 3D data multiplexing device stores these NAL units and RAW data for each of the different codecs in one ISOBMFF.

[0167] ISOBMFF is composed of a box structure. The boxes of ISOBMFF are "moov" and "meta" that mainly store metadata, and "mdat" that stores data.

[0168] The encoded data and raw data are stored in sample units in "mdat" in ISOBMFF. In addition, metadata in the input data is stored in a specific format in "trak" of "moov" in ISOMBFF for each encoded data. Metadata and synchronization information included in the encoded data are also stored in "moov".

[0169] Information for retrieving data from "mdat" (address information (offset information) of the data from the beginning of the file, data size, etc.) is stored in the metadata for each encoded data. In addition, "ftyp" indicates the file type of the following data, etc.

[0170] The formats and box names may be other than those listed here as long as they have the same functions.

[0171] In addition, in a use case such as real-time communication, units obtained by dividing a box such as "moov" and "mdat" may be transmitted at different times. Furthermore, data of the divided units may be interleaved.

[0172] The three-dimensional data multiplexing device defines a box indicating configuration information (hereinafter simply referred to as configuration information) and stores identification information of multiple data included in a file in the configuration information. The three-dimensional data multiplexing device also stores identification information that allows access to metadata of each data in the configuration information.

[0173] Fig. 27 is a diagram illustrating an example of the configuration information, and Fig. 28 is a diagram illustrating an example of the syntax of the configuration information.

[0174] The configuration information indicates information about the contents and components that make up the ISOBMFF file, sensor information when the original data of the components was acquired, format information, and the encoding method, etc.

[0175] 27, the configuration information includes overall configuration information and configuration information for each piece of encoded data. The multiple pieces of configuration information may be the same data structure or box, or may be different data structures or boxes.

[0176] The type in the mp4 box indicates that it is a configuration information box by 4CC such as "msuc". The overall configuration information (data()) indicates the configuration of multiple data with different encoding methods. data() includes num_of_data, data_type, and data_configuration.

[0177] num_of_data indicates the number of encoded data and RAW data that constitute the file. data_type indicates identification information for each data. In other words, data_type indicates the type of multiple data.

[0178] Specifically, data_type indicates whether the data is point cloud data or a sensor signal (e.g., RAW data). Data_type may also indicate whether the data is encoded. Data_type may also indicate the encoding method (encoding scheme) used to encode the encoded data. The encoding method is, for example, GPPC or VPPC. The encoding method may be Codec1 to 4 shown in FIG. 22. Data_type may also indicate information for identifying configuration information.

[0179] Furthermore, data_type may indicate the type of original data of the point cloud data. The type of original data is the type of sensor that generated the sensor signal when the original data is a sensor signal (e.g., 2D sensor or 3D sensor, etc.). Furthermore, data_type may include information indicating the data format of the sensor signal (e.g., 1D information, 2D information, 3D information, etc.).

[0180] For example, data_type=0 indicates PCC Codec 1, data_type=1 indicates PCC Codec 2, data_type=2 indicates Video Codec 3, and data_type=4 indicates 3D axis sensor RAW data. data_configuration indicates configuration information for each data.

[0181] The data_configuration() is configuration information for each piece of encoded data, and includes num_of_component, component_type, and component_id.

[0182] num_of_component indicates the number of components in the encoded data. component_type indicates the type of component. For example, in the case of PCC encoding, component_type indicates whether the component is geometry, attribute, or metadata.

[0183] The component_id indicates a unique identifier for linking the component with other metadata and data.

[0184] In addition, the encoding method may be an encoding method used for audio, text, applications, 360-degree images, etc., other than the video codec and PCC codec. The data may be processed data such as mesh or CAD. The encoding method may be the same codec, or may be an encoding method with a different profile, level, or tool, and any encoding method can be handled in an integrated manner.

[0185] In this way, by multiplexing the data necessary for utilizing the point cloud data decoded in the three-dimensional data demultiplexing device in an application into one file, file management and synchronization management handled by the application can be simplified.

[0186] 29 is a diagram showing an example of the structure of the data box "mdat." Each piece of coded data or RAW data is stored individually in a sample, which is the smallest unit of the data box.

[0187] Furthermore, synchronization information such as a timestamp for each piece of encoded data included in a file is set based on overall synchronization information such as a common reference time, etc. Furthermore, each piece of synchronization information is information that is synchronized.

[0188] Also, for example, the reference time, time resolution, and time interval in the timestamps of multiple encoded data may be aligned to make the synchronization information common to multiple encoded data. In this case, the synchronization information may be stored in one or more of the synchronization information for each encoded data and the common synchronization information. In this case, the metadata includes at least one of information indicating where the common time information is stored and information indicating that the synchronization information is common.

[0189] Furthermore, when the encoded data are synchronized with each other, the three-dimensional data multiplexing device may store the synchronized encoded data as one sample. On the other hand, when at least one of the reference time, the time resolution, and the time interval is not aligned among the encoded data, the three-dimensional data multiplexing device may derive difference information indicating the difference in the time stamps between the encoded data separately, and store the derived difference information in the output signal. Furthermore, the three-dimensional data multiplexing device may store a flag indicating whether or not the data are synchronized in the output signal.

[0190] The three-dimensional data demultiplexing device synchronizes between the encoded data by processing each sample at the time indicated by the timestamp indicated in the metadata, using the synchronization information of each encoded data and the overall synchronization information.

[0191] An example of application processing will be described below. Fig. 30 is a flowchart showing an example of application processing. When an application operation is started, the three-dimensional data demultiplexing device acquires an ISOBMFF file including point cloud data and a plurality of encoded data (S7301). For example, the three-dimensional data demultiplexing device may acquire the ISOBMFF file through communication, or may read it from accumulated data.

[0192] Next, the three-dimensional data demultiplexing device analyzes the overall configuration information in the ISOBMFF file and identifies data to be used for the application (S7302). For example, the three-dimensional data demultiplexing device acquires data to be used for processing and does not acquire data not to be used for processing.

[0193] Next, the three-dimensional data demultiplexing device extracts one or more pieces of data to be used for an application, and analyzes configuration information of the data (S7303).

[0194] If the type of data is coded data (coded data in S7304), the three-dimensional data demultiplexing device converts the ISOBMFF into a coded stream and extracts the time stamp (S7305). In addition, the three-dimensional data demultiplexing device may determine whether or not data is synchronized by, for example, referring to a flag indicating whether or not data is synchronized, and may perform synchronization processing if data is not synchronized.

[0195] Next, the three-dimensional data demultiplexing device decodes the data in a predetermined manner according to the timestamp and other instructions, and processes the decoded data (S7306).

[0196] On the other hand, if the type of data is coded data (RAW data in S7304), the three-dimensional data demultiplexing device extracts the data and the time stamp (S7307). The three-dimensional data demultiplexing device may also determine whether or not the data are synchronized by, for example, referring to a flag indicating whether or not the data are synchronized, and perform synchronization processing if they are not synchronized. Next, the three-dimensional data demultiplexing device processes the data according to the time stamp and other instructions (S7308).

[0197] For example, an example will be described in which the sensor signals acquired by the beam LiDAR, the FLASH LiDAR, and the camera are encoded and multiplexed using different encoding methods. Fig. 31 is a diagram showing an example of the sensor ranges of the beam LiDAR, the FLASH LiDAR, and the camera. For example, the beam LiDAR detects all directions around the vehicle (sensor), and the FLASH LiDAR and the camera detect a range in one direction (for example, forward) of the vehicle.

[0198] In the case of an application that handles LiDAR point clouds in an integrated manner, the 3D data demultiplexer refers to the overall configuration information to extract and decode the coded data of beam LiDAR and FLASH LiDAR. The 3D data demultiplexer does not extract camera images.

[0199] The 3D data demultiplexing device processes the encoded data of the same time stamp simultaneously according to the time stamps of the LiDAR and FLASH LiDAR.

[0200] For example, the three-dimensional data demultiplexing device may present the processed data on a presentation device, synthesize point cloud data from beam LiDAR and FLASH LiDAR, or perform processing such as rendering.

[0201] Additionally, in the case of applications that involve calibration between data, the three-dimensional data demultiplexer may extract sensor position information for use in the application.

[0202] For example, the three-dimensional data demultiplexing device may select whether to use beam LiDAR information or FLASH LiDAR in an application, and switch processing depending on the selection result.

[0203] In this way, data acquisition and encoding processes can be adaptively changed according to application processing, making it possible to reduce the amount of processing and power consumption.

[0204] A use case in autonomous driving will be described below. FIG. 32 is a diagram showing a configuration example of an autonomous driving system. This autonomous driving system includes a cloud server 7350 and an edge 7360 such as an in-vehicle device or a mobile device. The cloud server 7350 includes a demultiplexer 7351, decoders 7352A, 7352B, and 7355, a point cloud data synthesizer 7353, a large-scale data storage unit 7354, a comparator 7356, and an encoder 7357. The edge 7360 includes sensors 7361A and 7361B, point cloud data generation units 7362A and 7362B, a synchronization unit 7363, encoding units 7364A and 7364B, a multiplexing unit 7365, an update data storage unit 7366, a demultiplexing unit 7367, a decoding unit 7368, a filter 7369, a self-position estimation unit 7370, and a driving control unit 7371.

[0205] In this system, the edge 7360 downloads large-scale data, which is large-scale point cloud map data stored in the cloud server 7350. The edge 7360 performs self-location estimation processing of the edge 7360 (vehicle or terminal) by matching the large-scale data with sensor information obtained by the edge 7360. In addition, the edge 7360 uploads the obtained sensor information to the cloud server 7350 and updates the large-scale data to the latest map data.

[0206] Furthermore, in various applications that handle point cloud data within a system, point cloud data that is encoded using different methods is handled.

[0207] The cloud server 7350 encodes and multiplexes the large-scale data. Specifically, the encoding unit 7357 performs encoding using a third encoding method suitable for encoding a large-scale point cloud. The encoding unit 7357 also multiplexes the encoded data. The large-scale data storage unit 7354 stores the data encoded and multiplexed by the encoding unit 7357.

[0208] The edge 7360 performs sensing. Specifically, the point cloud data generation unit 7362A generates first point cloud data (position information (geometry) and attribute information) using sensing information acquired by the sensor 7361A. The point cloud data generation unit 7362B generates second point cloud data (position information and attribute information) using sensing information acquired by the sensor 7361B. The generated first point cloud data and second point cloud data are used for self-position estimation or vehicle control for autonomous driving, or map update. In each process, part of the information of the first point cloud data and the second point cloud data may be used.

[0209] The edge 7360 performs self-location estimation. Specifically, the edge 7360 downloads large-scale data from the cloud server 7350. The demultiplexer 7367 demultiplexes the large-scale data in a file format to obtain encoded data. The decoder 7368 decodes the obtained encoded data to obtain large-scale data that is large-scale point cloud map data.

[0210] The self-position estimation unit 7370 estimates the vehicle's self-position on the map by matching the acquired large-scale data with the first point cloud data and the second point cloud data generated by the point cloud data generation units 7362A and 7362B. The driving control unit 7371 uses the matching result or the self-position estimation result for driving control.

[0211] The self-position estimation unit 7370 and the driving control unit 7371 may extract specific information, such as position information, from the large-scale data and perform processing using the extracted information. The filter 7369 performs processing, such as correction or thinning, on the first point cloud data and the second point cloud data. The self-position estimation unit 7370 and the driving control unit 7371 may use the first point cloud data and the second point cloud data after the processing. The self-position estimation unit 7370 and the driving control unit 7371 may use sensor signals obtained by the sensors 7361A and 7361B.

[0212] The synchronization unit 7363 performs time synchronization and position correction between a plurality of sensor signals or a plurality of point cloud data. The synchronization unit 7363 may also correct the position information of the sensor signal or the point cloud data to match the large-scale data, based on position correction information between the large-scale data and the sensor data generated by the self-location estimation process.

[0213] Note that synchronization and position correction may be performed by the cloud server 7350, not by the edge 7360. In this case, the edge 7360 may multiplex the synchronization information and position information and transmit them to the cloud server 7350.

[0214] The edge 7360 encodes and multiplexes the sensor signals or the point cloud data. Specifically, the sensor signals or the point cloud data are encoded using a first encoding method or a second encoding method suitable for encoding the respective signals. For example, the encoding unit 7364A generates first encoded data by encoding the first point cloud data using the first encoding method. The encoding unit 7364B generates second encoded data by encoding the second point cloud data using the second encoding method.

[0215] The multiplexing unit 7365 generates a multiplexed signal by multiplexing the first encoded data, the second encoded data, synchronization information, etc. The update data storage unit 7366 stores the generated multiplexed signal. The update data storage unit 7366 also uploads the multiplexed signal to the cloud server 7350.

[0216] The cloud server 7350 synthesizes the point cloud data. Specifically, the demultiplexer 7351 obtains the first encoded data and the second encoded data by demultiplexing the multiplexed signal uploaded to the cloud server 7350. The decoder 7352A obtains the first point cloud data (or the sensor signal) by decoding the first encoded data. The decoder 7352B obtains the second point cloud data (or the sensor signal) by decoding the second encoded data.

[0217] The point cloud data synthesis unit 7353 synthesizes the first point cloud data and the second point cloud data in a predetermined manner. When synchronization information and position correction information are multiplexed in the multiplexed signal, the point cloud data synthesis unit 7353 may perform synthesis using the information.

[0218] The decoding unit 7355 demultiplexes and decodes the large scale data stored in the large scale data storage unit 7354. The comparing unit 7356 compares the point cloud data generated based on the sensor signal obtained by the edge 7360 with the large scale data held by the cloud server 7350, and determines the point cloud data that needs to be updated. The comparing unit 7356 updates the point cloud data that is determined to need to be updated, out of the large scale data, to the point cloud data obtained from the edge 7360.

[0219] The encoding unit 7357 encodes and multiplexes the updated large scale data, and stores the resulting data in the large scale data storage unit 7354.

[0220] As described above, depending on the purpose or application to be used, the signals to be handled may differ, and the signals to be multiplexed or the encoding method may differ. Even in such a case, flexible decoding and application processing is possible by multiplexing data of various encoding methods using this embodiment. Furthermore, even if the signal encoding method is different, various applications and systems can be constructed and flexible services can be provided by converting the encoding method that is more suitable for the demultiplexing, decoding, data conversion, encoding, and multiplexing processes.

[0221] As described above, the three-dimensional data multiplexing device according to this embodiment performs the process shown in Fig. 33. The three-dimensional data multiplexing device generates an output signal of a predetermined file structure (e.g., ISOBMFF) by multiplexing a plurality of types of data including point cloud data (S7311). Next, the three-dimensional data multiplexing device stores information (e.g., data_type) indicating the type of each of the plurality of data included in the output signal in metadata (control information) in the file structure (S7312).

[0222] According to this, the three-dimensional data multiplexing device stores information indicating the type of each of the multiple data included in the output signal in metadata in the file structure. This allows the three-dimensional data demultiplexing device receiving the output signal to easily determine the type of each data. In this way, the three-dimensional data multiplexing method can appropriately multiplex and transmit point cloud data.

[0223] For example, the information indicating the type of each of the multiple data items may indicate (1) the encoding method applied to the data, (2) the structure of the data, (3) the type of sensor that generated the data, or (4) the data format.

[0224] For example, the metadata in the file configuration includes synchronization information for synchronizing the times of multiple pieces of data included in the output signal, which allows the multiple pieces of data to be synchronized in a three-dimensional data demultiplexing device that receives the output signal.

[0225] For example, the synchronization information indicates the difference in time stamps between a plurality of pieces of data, which makes it possible to reduce the amount of data in the output signal.

[0226] For example, the three-dimensional data multiplexing device includes a processor and a memory, and the processor uses the memory to perform the above-mentioned processing.

[0227] Moreover, the three-dimensional data demultiplexing device according to this embodiment performs the process shown in FIG. 34. The three-dimensional data demultiplexing device acquires information (e.g., data_type) indicating the type of each of the multiple data included in the output signal, which is stored in the metadata in the file structure, from an output signal of a predetermined file structure (e.g., ISOBMFF) in which multiple types of data including point cloud data are multiplexed (S7321). The three-dimensional data demultiplexing device acquires multiple data from the output signal using the information indicating the type of each of the multiple data (S7322). For example, the three-dimensional data demultiplexing device selectively acquires necessary data from the output signal using the information indicating the type of each of the multiple data. This allows the three-dimensional data demultiplexing device to easily determine the type of each data.

[0228] For example, the information indicating the type of each of the multiple data items may indicate (1) the encoding method applied to the data, (2) the structure of the data, (3) the type of sensor that generated the data, or (4) the data format.

[0229] For example, the metadata in the file structure includes synchronization information for synchronizing the times of multiple data included in the output signal. For example, the three-dimensional data demultiplexing device synchronizes multiple data using the synchronization information.

[0230] For example, the synchronization information indicates a difference in timestamps between the multiple data. For example, the synchronization information includes information indicating a timestamp of one of the multiple data, and the three-dimensional data demultiplexing device restores the timestamp of the other data among the multiple data by adding the difference indicated by the synchronization information to the timestamp of one of the multiple data. This makes it possible to reduce the amount of data in the output signal.

[0231] For example, the three-dimensional data demultiplexing device includes a processor and a memory, and the processor uses the memory to perform the above-mentioned processing.

[0232] The above describes the three-dimensional data multiplexing device, three-dimensional data demultiplexing device, three-dimensional data encoding device, and three-dimensional data decoding device according to the embodiments of the present disclosure, but the present disclosure is not limited to these embodiments.

[0233] Furthermore, each processing unit included in the three-dimensional data multiplexing device, three-dimensional data demultiplexing device, three-dimensional data encoding device, three-dimensional data decoding device, etc. according to the above-mentioned embodiments is typically realized as an LSI, which is an integrated circuit. These may be individually implemented as single chips, or some or all of them may be included in a single chip.

[0234] The integrated circuit is not limited to an LSI, but may be realized by a dedicated circuit or a general-purpose processor. A field programmable gate array (FPGA) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connections and settings of the circuit cells inside the LSI may also be used.

[0235] In each of the above embodiments, each component may be implemented by dedicated hardware or by executing a software program suitable for each component. Each component may be implemented by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0236] Furthermore, the present disclosure may be realized as a three-dimensional data multiplexing method, a three-dimensional data demultiplexing method, a three-dimensional data encoding method, or a three-dimensional data decoding method, etc., executed by a three-dimensional data multiplexing device, a three-dimensional data demultiplexing device, a three-dimensional data encoding device, and a three-dimensional data decoding device, etc.

[0237] In addition, the division of functional blocks in the block diagram is an example, and multiple functional blocks may be realized as one functional block, one functional block may be divided into multiple blocks, or some functions may be transferred to another functional block. Furthermore, the functions of multiple functional blocks having similar functions may be processed in parallel or in a time-sharing manner by a single piece of hardware or software.

[0238] In addition, the order in which each step is performed in the flowchart is merely an example for specifically explaining the present disclosure, and an order other than the above may be used. In addition, some of the steps may be performed simultaneously (in parallel) with other steps.

[0239] The three-dimensional data multiplexing device, three-dimensional data demultiplexing device, three-dimensional data encoding device, three-dimensional data decoding device, etc. according to one or more aspects have been described based on the embodiments, but the present disclosure is not limited to these embodiments. As long as it does not deviate from the spirit of the present disclosure, various modifications conceived by a person skilled in the art to the present embodiment and forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects. [Industrial Applicability]

[0240] The present disclosure is applicable to a three-dimensional data multiplexing device, a three-dimensional data demultiplexing device, a three-dimensional data encoding device, and a three-dimensional data decoding device. [Explanation of symbols]

[0241] 4601 Three-dimensional data encoding system 4602 Three-dimensional data decoding system 4603 Sensor terminal 4604 External connection part 4611 Point Cloud Data Generation System 4612 Presentation section 4613 Encoding section 4614 Multiplexer 4615 Input / output section 4616 Control Unit 4617 Sensor information acquisition unit 4618 Point Cloud Data Generation Unit 4621 Sensor Information Acquisition Unit 4622 Input / output section 4623 Demultiplexer 4624 Decoding section 4625 Presentation section 4626 User Interface 4627 Control Unit 4630 First Encoding Section 4631 Location information encoder 4632 Attribute information encoder 4633 Additional Information Encoding Unit 4634 Multiplexer 4640 First Decoding Unit 4641 Demultiplexer 4642 Location Information Decoding Unit 4643 Attribute Information Decoding Unit 4644 Additional Information Decoding Unit 4650 Second Encoding Section 4651 Additional Information Generation Unit 4652 Position image generation unit 4653 Attribute Image Generation Unit 4654 Video Encoding Unit 4655 Additional Information Encoding Unit 4656 Multiplexer 4660 Second Decryption Unit 4661 Demultiplexer 4662 Video Decoding Unit 4663 Additional Information Decoding Unit 4664 Location information generator 4665 Attribute information generation section 7301, 7301A, 7301B, 7301C Sensing Devices 7302, 7302A, 7302B, 7302C Sensor information input section 7303, 7303A, 7303C Point Cloud Data Generation Unit 7304A, 7304B Sensing section 7305 Merge Department 7310 First Device 7311, 7321 Sensing unit 7312, 7322 Output I / F 7320 Second Device 7323 Input I / F 7324 Processing section 7325 Point Cloud Data Generation Unit 7326 Encoder 7331A, 7331B, 7331C Sensing section 7332A, 7332B, 7332C Sensor information input section 7333A, 7333B Point Cloud Data Generation Unit 7334A, 7334B encoder 7335 Synchronization Unit 7336 Multiplexer 7341A, 7341B, 7341C Sensing section 7342A, 7342B, 7342C input / output section 7343 Point Cloud Data Generation Unit 7344A, 7344B encoder 7345 Synchronization Unit 7346 Multiplexer 7350 Cloud Server 7351 Demultiplexer 7352A, 7352B Decoding Unit 7353 Point Cloud Data Synthesis Section 7354 Large-Scale Data Storage Department 7355 Decryption Unit 7356 Comparison Section 7357 Encoder 7360 Edge 7361A, 7361B Sensors 7362A, 7362B Point Cloud Data Generation Unit 7363 Synchronization section 7364A, 7364B encoder 7365 Multiplexer 7366 Update Data Storage Unit 7367 Demultiplexer 7368 Decryption section 7369 Filter 7370 Self-position estimation part 7371 Operation control unit

Claims

1. generating an output signal having a predetermined file structure including the multiplexed data and metadata by multiplexing a plurality of types of data including three-dimensional data; storing type information indicating a type of each of the plurality of types of data and information linking the plurality of types of data in the metadata; The type information includes position information or angle information of a sensor when at least one type of data among the plurality of types of data is generated. Three-dimensional data processing method.

2. The three-dimensional data and any one of the plurality of types of data are presented based on the metadata.

2. The three-dimensional data processing method according to claim 1.

3. One of the plurality of types of data is two-dimensional image data, and the two-dimensional image data is data acquired based on the three-dimensional data.

2. The three-dimensional data processing method according to claim 1.

4. The type information may further indicate (1) the encoding method applied to the data, (2) the structure of the data, (3) the type of sensor that generated the data, or (4) the data format.

2. The three-dimensional data processing method according to claim 1.

5. The metadata includes synchronization information for synchronizing the times of the plurality of types of data included in the output signal.

2. The three-dimensional data processing method according to claim 1.

6. The synchronization information indicates a difference in time stamps between the plurality of types of data.

6. The three-dimensional data processing method according to claim 5.

7. The type information further includes time information when the plurality of types of data were generated.

2. The three-dimensional data processing method according to claim 1.

8. obtaining type information indicating the types of each of the plurality of types of data and information linking the plurality of types of data, which are stored in the metadata, from an output signal having a predetermined file configuration including metadata and the plurality of types of data multiplexed with the plurality of types of data including three-dimensional data; Using the type information, the plurality of types of data are obtained from the output signal; The type information includes position information or angle information of a sensor when at least one type of data among the plurality of types of data is generated. Three-dimensional data processing method.

9. The three-dimensional data and any one of the plurality of types of data are presented based on the metadata.

9. The three-dimensional data processing method according to claim 8.

10. One of the plurality of types of data is two-dimensional image data, and the two-dimensional image data is data acquired based on the three-dimensional data.

9. The three-dimensional data processing method according to claim 8.

11. The type information may further indicate (1) the encoding method applied to the data, (2) the structure of the data, (3) the type of sensor that generated the data, or (4) the data format.

9. The three-dimensional data processing method according to claim 8.

12. The metadata includes synchronization information for synchronizing the times of the plurality of types of data included in the output signal.

9. The three-dimensional data processing method according to claim 8.

13. The synchronization information indicates a difference in time stamps between the plurality of types of data.

13. The three-dimensional data processing method according to claim 12.

14. The type information further includes time information when the plurality of types of data were generated.

9. The three-dimensional data processing method according to claim 8.

15. A processor; A memory. The processor uses the memory to: generating an output signal having a predetermined file structure including the multiplexed data and metadata by multiplexing a plurality of types of data including three-dimensional data; storing type information indicating a type of each of the plurality of types of data and information linking the plurality of types of data in the metadata; The type information includes position information or angle information of a sensor when at least one type of data among the plurality of types of data is generated. Three-dimensional data processing device.

16. A processor; A memory. The processor uses the memory to: obtaining type information indicating the types of each of the plurality of types of data and information linking the plurality of types of data, which are stored in the metadata, from an output signal having a predetermined file configuration including metadata and the plurality of types of data multiplexed with the plurality of types of data including three-dimensional data; Using the type information, the plurality of types of data are obtained from the output signal; The type information includes position information or angle information of a sensor when at least one type of data among the plurality of types of data is generated. Three-dimensional data processing device.

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