Clipping laser index in predictive geometry coding for point cloud compression

Abstract

A method for encoding a point cloud includes determining, by one or more processors, an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; and encoding, by the one or more processors, a laser index for a current node of the point cloud, wherein encoding the laser index comprises obtaining a predicted laser index value for the current node; determining a residual laser index value for the current node; and encoding one or more syntax elements representing the residual laser index value in a bitstream, wherein determining the residual laser index value comprises constraining a sum of the residual laser index value and the predicted laser index value to be less than or equal to the determined amount of laser −1.

Description

Priority claims

[0001]

[0001] This application claims priority to U.S. Patent Application No. 17 / 491,114, filed September 30, 2021, U.S. Provisional Patent Application No. 63 / 087,804, filed October 5, 2020, and U.S. Provisional Patent Application No. 63 / 088,843, filed October 7, 2020, the entire contents of each of which are incorporated herein by reference. U.S. Patent Application No. 17 / 491,114, filed September 30, 2021, claims the benefit of U.S. Provisional Application No. 63 / 087,804, filed October 5, 2020, and U.S. Provisional Application No. 63 / 088,843, filed October 7, 2020. [Technical Field]

[0002]

[0002] This disclosure relates to point cloud encoding and decoding. [Background technology]

[0003]

[0003] A point cloud is a collection of points in three-dimensional space. The points may correspond to points on an object in three-dimensional space. Thus, a point cloud can be used to represent the physical content of a three-dimensional space. Point clouds can have utility in a wide variety of situations. For example, a point cloud can be used in the context of autonomous vehicles to represent the location of objects on a road. In another example, a point cloud can be used in the context of representing the physical content of an environment to place virtual objects in an augmented reality (AR) or mixed reality (MR) application. Point cloud compression is the process for encoding and decoding a point cloud. Encoding a point cloud can reduce the amount of data required to store and transmit the point cloud. [Brief explanation of the drawings]

[0004] [Figure 1]

[0004] FIG. 1 is a block diagram illustrating an example encoding and decoding system that may implement the techniques of this disclosure. [Figure 2]

[0005] 1 is a block diagram illustrating an example geometry point cloud compression (G-PCC) encoder. [Figure 3]

[0006] FIG. 1 is a block diagram illustrating an exemplary G-PCC decoder. [Figure 4]

[0007] Conceptual diagram of a prediction tree for predictive geometry coding. [Figure 5A]

[0008] Conceptual diagram of spinning LIDAR acquisition model. [Figure 5B] Conceptual diagram of the rotational LIDAR acquisition model. [Figure 6]

[0009] 1 is a flow diagram illustrating an example technique for processing a point cloud, in accordance with one or more techniques of this disclosure. [Figure 7]

[0010] FIG. 1 is a conceptual diagram illustrating an example ranging system that may be used with one or more techniques of this disclosure. [Figure 8]

[0011] FIG. 1 is a conceptual diagram illustrating an example vehicle-based scenario in which one or more techniques of the present disclosure may be used. [Figure 9]

[0012] FIG. 1 is a conceptual diagram illustrating an example extended reality system in which one or more techniques of this disclosure may be used. [Figure 10]

[0013] FIG. 1 is a conceptual diagram illustrating an example mobile device system in which one or more techniques of the present disclosure may be used. Summary of the Invention

[0005]

[0014] In general, this disclosure describes techniques for coding nodes of a point cloud, such as for the currently developed Geometry Point Cloud Compression (G-PCC) standard. However, the example techniques are not limited to the G-PCC standard. In some examples of G-PCC, coordinates of a node's (also called a point) position in a point cloud may be converted to the (r, φ, i) domain, where the node's position is represented by three parameters: radius r, azimuth angle φ, and laser index i. When using an angle mode for predictive geometry coding in G-PCC, a G-PCC coder may perform prediction in the (r, φ, i) domain. For example, the G-PCC coder may determine a predicted radius r, azimuth angle φ, and laser index i of a node and add the predicted radius r, azimuth angle φ, and laser index i of the node to residual data (e.g., residual radius r, residual azimuth angle φ, and residual laser index i) to determine the node's reconstructed radius r, azimuth angle φ, and laser index i. Due to errors in rounding and other sources, the reconstructed laser index i may exceed the valid range of laser indices (e.g., indicate a non-existent laser). Such results may result in undefined behavior of the decoder, which may be undesirable.

[0006]

[0015] According to one or more techniques of this disclosure, the G-PCC coder may constrain the value of the reconstructed laser index to be within the valid range of the laser index. For example, in response to determining that the laser index of a particular node will be reconstructed outside the valid range of the laser index, the G-PCC encoder may adjust the encoding of the laser index of the particular node (e.g., reduce the value of the residual laser index) so that the laser index will be reconstructed within the valid range. Additionally or alternatively, the G-PCC decoder may clip the value of the reconstructed laser index to be within the valid range. In this manner, the techniques of this disclosure may enable the G-PCC coder to avoid undesirable undefined behavior.

[0007]

[0016] In one example, a method for encoding a point cloud includes determining, by one or more processors, an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud, and encoding, by the one or more processors, a laser index for a current node of the point cloud, where encoding the laser index comprises obtaining a predicted laser index value for the current node; determining a residual laser index value for the current node, where determining the residual laser index value comprises constraining a sum of the residual laser index value and the predicted laser index value to be less than or equal to the determined amount of laser −1; and encoding, in a bitstream, one or more syntax elements representing the residual laser index value.

[0008]

[0017] In another example, a method for decoding a point cloud includes determining, by one or more processors, an amount of laser used to capture LIDAR data representing the point cloud; and decoding, by the one or more processors, a laser index for a current node of the point cloud, wherein decoding the laser index comprises: obtaining a predicted laser index value for the current node; decoding from the bitstream one or more syntax elements representing a residual laser index value for the current node; and reconstructing a laser index for the current node as a sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained to be less than or equal to the determined amount of laser −1.

[0009]

[0018] In another example, a device for encoding a point cloud includes a memory configured to store at least a portion of the point cloud and one or more processors implemented in a circuit, wherein the one or more processors are configured to: determine an amount of laser used to capture LIDAR data representing the point cloud; and encode a laser index for a current node of the point cloud, where, to encode the laser index, the one or more processors obtain a predicted laser index value for the current node; determine a residual laser index value for the current node, where, to determine the residual laser index value, the one or more processors are configured to constrain the sum of the residual laser index value and the predicted laser index value to be less than or equal to the determined amount of laser −1; and encode one or more syntax elements representing the residual laser index value in a bitstream.

[0010]

[0019] In another example, a device for decoding a point cloud includes a memory configured to store at least a portion of the point cloud and one or more processors implemented in a circuit, the one or more processors configured to determine an amount of laser used to capture LIDAR data representing the point cloud and decode a laser index for a current node of the point cloud, where to decode the laser index, the one or more processors are configured to: obtain a predicted laser index value for the current node; decode from the bitstream one or more syntax elements representing a residual laser index value for the current node; and reconstruct a laser index for the current node as the sum of the residual laser index value and the predicted laser index value, where the laser index of the current node is constrained to be less than or equal to the determined amount of laser minus 1.

[0011]

[0020] In another example, a computer-readable storage medium stores instructions that, when executed by one or more processors, cause the one or more processors to determine an amount of laser used to capture LIDAR data representing a point cloud and encode a laser index for a current node of the point cloud, wherein the instructions causing the one or more processors to encode the laser index comprise: obtaining a predicted laser index value for the current node; determining a residual laser index value for the current node, wherein the instructions causing the one or more processors to determine the residual laser index value comprise: constraining the sum of the residual laser index value and the predicted laser index value to be less than or equal to the determined amount of laser −1; and encoding in a bitstream one or more syntax elements representing the residual laser index value.

[0021] In another example, a computer-readable storage medium stores instructions that, when executed by one or more processors, cause the one or more processors to determine an amount of laser used to capture LIDAR data representing a point cloud and decode a laser index for a current node of the point cloud, wherein the instructions causing the one or more processors to decode the laser index comprise instructions that cause the one or more processors to obtain a predicted laser index value for the current node; decode from the bitstream one or more syntax elements that represent a residual laser index value for the current node; and reconstruct a laser index for the current node as the sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained to be less than or equal to the determined amount of laser minus 1.

[0012]

[0022] The details of one or more examples are set forth in the accompanying drawings and the description below. Other features, objects, and advantages will become apparent from the description, drawings, and claims. DETAILED DESCRIPTION OF THE INVENTION

[0013]

[0023] 1 is a block diagram illustrating an example encoding and decoding system 100 that may implement the techniques of this disclosure. The techniques of this disclosure are generally directed to coding (encoding and / or decoding) point cloud data, i.e., supporting point cloud compression. Generally, point cloud data includes any data for processing a point cloud. Coding may be effective in compressing and / or decompressing point cloud data.

[0014]

[0024] 1, the system 100 includes a source device 102 and a destination device 116. The source device 102 provides encoded point cloud data to be decoded by the destination device 116. In particular, in the example of FIG. 1, the source device 102 provides the point cloud data to the destination device 116 via a computer-readable medium 110. The source device 102 and the destination device 116 may comprise any combination of a wide range of devices, including a desktop computer, a notebook (i.e., laptop) computer, a tablet computer, a set-top box, a telephone handset such as a smartphone, a television, a camera, a display device, a head-mounted device (HMD), an extended reality (XR) device (e.g., a virtual reality (VR) device, a mixed reality (MR) device, and / or an augmented reality (AR) device), a digital media player, a video game console, a video streaming device, a terrestrial or marine vehicle, a spacecraft, an aircraft, a robot, a LIDAR device, a satellite, etc. In some cases, the source device 102 and the destination device 116 may be equipped for wireless communication.

[0015]

[0025] In the example of FIG. 1 , source device 102 includes a data source 104, memory 106, a G-PCC encoder 200, and an output interface 108. Destination device 116 includes an input interface 122, a G-PCC decoder 300, memory 120, and a data consumer 118. According to this disclosure, the G-PCC encoder 200 of source device 102 and the G-PCC decoder 300 of destination device 116 may be configured to apply techniques of this disclosure related to clipping laser indices in predictive geometry coding. Thus, source device 102 represents an example of an encoding device, while destination device 116 represents an example of a decoding device. In other examples, source device 102 and destination device 116 may include other components or configurations. For example, source device 102 may receive data (e.g., point cloud data) from an internal or external source. Similarly, destination device 116 may interface with an external data consumer rather than including the data consumer in the same device.

[0016]

[0026] The system 100 shown in FIG. 1 is merely an example. In general, other digital encoding and / or decoding devices may implement the techniques of this disclosure related to clipping laser indexes in predictive geometry coding. The source device 102 and the destination device 116 are merely examples of devices in which the source device 102 generates coded data for transmission to the destination device 116. This disclosure refers to a “coding” device as a device that performs coding (encoding and / or decoding) of data. Accordingly, the G-PCC encoder 200 and the G-PCC decoder 300 represent examples of coding devices, specifically, encoders and decoders, respectively. In some examples, the source device 102 and the destination device 116 may operate substantially symmetrically, such that each of the source device 102 and the destination device 116 includes an encoding component and a decoding component. Thus, the system 100 may support one-way or two-way transmission between the source device 102 and the destination device 116, for example, streaming, playback, broadcasting, telephony, navigation, and other uses.

[0017]

[0027] Generally, the data source 104 represents a source of data (i.e., raw, unencoded point cloud data) and may provide a continuous series of “frames” of data to the G-PCC encoder 200, which encodes the data for the frames. The data source 104 of the source device 102 may include a point cloud capture device, such as any of a variety of cameras or sensors, e.g., a 3D scanner or light detection and ranging (LIDAR) device, one or more video cameras, an archive containing previously captured data, and / or a data feed interface for receiving data from a data content provider. Alternatively or additionally, the point cloud data may be computer-generated from scanners, cameras, sensors, or other data. For example, the data source 104 may generate computer-graphics-based data as source data or may create a combination of live data, archived data, and computer-generated data. In each case, the G-PCC encoder 200 encodes the captured data, pre-captured data, or computer-generated data. The G-PCC encoder 200 may reorder frames from their reception order (sometimes called "display order") into a coding order for coding. The G-PCC encoder 200 may generate one or more bitstreams including the encoded data. The source device 102 may then output the encoded data onto the computer-readable medium 110 via the output interface 108, for receipt and / or retrieval by, for example, the input interface 122 of the destination device 116.

[0018]

[0028] The memory 106 of the source device 102 and the memory 120 of the destination device 116 may represent general-purpose memory. In some examples, the memory 106 and the memory 120 may store raw data, e.g., raw data from the data source 104 and raw decoded data from the G-PCC decoder 300. Additionally or alternatively, the memory 106 and the memory 120 may store software instructions executable by the G-PCC encoder 200 and the G-PCC decoder 300, respectively. While the memory 106 and the memory 120 are shown separate from the G-PCC encoder 200 and the G-PCC decoder 300 in this example, it should be understood that the G-PCC encoder 200 and the G-PCC decoder 300 may also include internal memory for functionally similar or equivalent purposes. Additionally, the memory 106 and the memory 120 may store encoded data, e.g., output from the G-PCC encoder 200 and input to the G-PCC decoder 300. In some examples, portions of memory 106 and memory 120 may be allocated as one or more buffers, e.g., to store raw, decoded, and / or encoded data. For example, memory 106 and memory 120 may store data representing a point cloud.

[0019]

[0029] The computer-readable medium 110 may represent any type of medium or device capable of transporting encoded data from the source device 102 to the destination device 116. In one example, the computer-readable medium 110 represents a communication medium for enabling the source device 102 to transmit encoded data directly to the destination device 116 in real time, for example, via a radio frequency network or a computer-based network. The output interface 108 may modulate a transmission signal containing the encoded data, and the input interface 122 may demodulate a received transmission signal in accordance with a communication standard such as a wireless communication protocol. The communication medium may comprise any wireless or wired communication medium, such as a radio frequency (RF) spectrum or one or more physical transmission lines. The communication medium may form part of a packet-based network, such as a local area network, a wide area network, or a global network such as the Internet. The communication medium may include routers, switches, base stations, or any other equipment that may be used to facilitate communication from the source device 102 to the destination device 116.

[0020]

[0030] In some examples, source device 102 may output the encoded data from output interface 108 to storage device 112. Similarly, destination device 116 may access the encoded data from storage device 112 via input interface 122. Storage device 112 may include any of a variety of distributed or locally accessed data storage media, such as a hard drive, Blu-ray disc, DVD, CD-ROM, flash memory, volatile or non-volatile memory, or any other suitable digital storage medium for storing encoded data.

[0021]

[0031] In some examples, source device 102 may output the encoded data to a file server 114 or another intermediate storage device, which may store the encoded data generated by source device 102. Destination device 116 may access the stored data from file server 114 via streaming or download. File server 114 may be any type of server device capable of storing encoded data and transmitting the encoded data to destination device 116. File server 114 may represent a web server (e.g., for a website), a file transfer protocol (FTP) server, a content delivery network device, or a network-attached storage (NAS) device. Destination device 116 may access the encoded data from file server 114 through any standard data connection, including an Internet connection. This may include a wireless channel (e.g., a Wi-Fi connection), a wired connection (e.g., a digital subscriber line (DSL), a cable modem, etc.), or a combination of both, that is suitable for accessing the encoded data stored on file server 114. The file server 114 and the input interface 122 may be configured to operate according to a streaming transmission protocol, a download transmission protocol, or a combination thereof.

[0022]

[0032] Output interface 108 and input interface 122 may represent a wireless transmitter / receiver, a modem, a wired networking component (e.g., an Ethernet card), a wireless communication component operating according to any of the various IEEE 802.11 standards, or other physical components. In examples in which output interface 108 and input interface 122 comprise wireless components, output interface 108 and input interface 122 may be configured to transfer data, such as encoded data, according to a cellular communication standard, such as 4G, 4G-LTE (Long Term Evolution), LTE Advanced, 5G, etc. In some examples in which output interface 108 comprises a wireless transmitter, output interface 108 and input interface 122 may be configured to transfer data, such as encoded data, according to other wireless standards, such as the IEEE 802.11 specification, the IEEE 802.15 specification (e.g., ZigBee), the Bluetooth standard, etc. In some examples, source device 102 and / or destination device 116 may include respective system-on-chip (SoC) devices. For example, the source device 102 may include an SoC device for performing functions attributed to the G-PCC encoder 200 and / or the output interface 108, and the destination device 116 may include an SoC device for performing functions attributed to the G-PCC decoder 300 and / or the input interface 122.

[0023]

[0033] The techniques of this disclosure may be applied to encoding and decoding in support of any of a variety of applications, such as communication between autonomous vehicles, communication between scanners, cameras, sensors, and processing devices such as local or remote servers, geographic mapping, or other applications.

[0024]

[0034] The input interface 122 of the destination device 116 receives the encoded bitstream from the computer-readable medium 110 (e.g., a communication medium, a storage device 112, a file server 114, etc.). The encoded bitstream may include signaling information defined by the G-PCC encoder 200, such as syntax elements having values ​​that describe the characteristics and / or processing of the coded units (e.g., slices, pictures, groups of pictures, sequences, etc.), which is also used by the G-PCC decoder 300. The data consumer 118 uses the decoded data. For example, the data consumer 118 may use the decoded data to determine the location of a physical object. In some examples, the data consumer 118 may include a display for presenting imagery based on the point cloud.

[0025]

[0035] The G-PCC encoder 200 and the G-PCC decoder 300 may each be implemented as any of a variety of suitable encoder and / or decoder circuits, or any combination thereof, including one or more microprocessors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), discrete logic, software, hardware, firmware, etc. When the techniques are implemented partially in software, a device may store instructions for the software on a suitable non-transitory computer-readable medium and execute the instructions in hardware using one or more processors to implement the techniques of this disclosure. The G-PCC encoder 200 and the G-PCC decoder 300 may each be included in one or more encoders or decoders, any of which may be integrated as part of a combined encoder / decoder (codec) in the respective device. A device including the G-PCC encoder 200 and / or the G-PCC decoder 300 may comprise one or more integrated circuits, microprocessors, and / or other types of devices.

[0026]

[0036] The G-PCC encoder 200 and the G-PCC decoder 300 may operate according to a coding standard such as the Video Point Cloud Compression (V-PCC) standard or the Geometry Point Cloud Compression (G-PCC) standard. This disclosure may generally refer to coding (e.g., encoding and decoding) of a picture to include the process of encoding or decoding data. The encoded bitstream generally includes a series of values ​​for syntax elements that represent coding decisions (e.g., coding modes).

[0027]

[0037] This disclosure may generally refer to “signaling” certain information, such as syntax elements. The term “signaling” may generally refer to communicating values ​​for syntax elements and / or other data used to decode encoded data. That is, G-PCC encoder 200 may signal values ​​for syntax elements in a bitstream. Generally, signaling refers to generating values ​​in a bitstream. As mentioned above, source device 102 may transport a bitstream to destination device 116 in substantially real time or non-real time, which may occur when storing syntax elements in storage device 112 for later retrieval by destination device 116.

[0028]

[0038] ISO / IEC MPEG (JTC1 / SC29 / WG11) is studying the potential need for a standard for point cloud coding techniques with compression capabilities significantly exceeding those of current methods, with the goal of creating such a standard. The group is collaborating on this exploration in a collaborative effort known as the 3-Dimensional Graphics Team (3DG) to evaluate compression technology designs proposed by experts in the field.

[0029]

[0039] Point cloud compression activity is categorized into two different approaches. The first approach is "video point cloud compression" (V-PCC), which segments a 3D object and projects the segments into multiple 2D planes (represented as "patches" in a 2D frame), which are further coded by a legacy 2D video codec such as the High Efficiency Video Coding (HEVC) (ITU-T H.265) codec. The second approach is "geometry-based point cloud compression" (G-PCC), which directly compresses the 3D geometry, i.e., the positions of a set of points in 3D space and the associated attribute values ​​(for each point associated with the 3D geometry). G-PCC addresses the compression of point clouds in both Category 1 (static point clouds) and Category 3 (dynamically collected point clouds). A draft of the G-PCC standard is available at G-PCC DIS, ISO / IEC JTC1 / SC29 / WG11 w19328, Brussels, Belgium, January 2020, and the codec description is available at G-PCC Codec Description v8, ISO / IEC JTC1 / SC29 / WG11 w19525, Brussels, Belgium, January 2020.

[0030]

[0040] A point cloud includes a set of points in 3D space and may have attributes associated with the points. The attributes may be color information such as R, G, B, or Y, Cb, Cr, or reflectance information, or other attributes. Point clouds may be captured by various cameras or sensors, such as LIDAR sensors and 3D scanners, or may be computer-generated. Point cloud data is used in a variety of applications, including, but not limited to, architecture (modeling), graphics (3D models for visualization and animation), and the automotive industry (LIDAR sensors used to aid navigation).

[0031]

[0041] The 3D space occupied by the point cloud data may be enclosed by a virtual bounding box. The positions of points in the bounding box may be represented with a certain precision, and therefore, the positions of one or more points may be quantized based on that precision. At the smallest level, the bounding box is divided into voxels, which are the smallest units of space represented by a unit cube. A voxel in a bounding box may be associated with zero, one, or more points. The bounding box may be divided into multiple cubic / rectangular regions, sometimes called tiles. Each tile may be coded into one or more slices. The division of the bounding box into slices and tiles may be based on the number of points in each division or other considerations (e.g., a particular region may be coded as a tile). The slice regions may be further divided using division decisions similar to those in video codecs.

[0032]

[0042] Figure 2 provides an overview of a G-PCC encoder 200. Figure 3 provides an overview of a G-PCC decoder 300. The illustrated modules are logical and do not necessarily correspond one-to-one to the code implemented in the reference implementation of the G-PCC codec, i.e., the TMC13 test model software studied by ISO / IEC MPEG (JTC1 / SC29 / WG11).

[0033]

[0043] In both the G-PCC encoder 200 and the G-PCC decoder 300, the point cloud position is coded first. Attribute coding depends on the decoded geometry. In Figures 2 and 3, modules 212, 218, 310, and 314 are options typically used for Category 1 data. Modules 220, 222, 316, and 318 are options typically used for Category 3 data. All other modules are common between Category 1 and Category 3.

[0034]

[0044] For Category 3 data, the compressed geometry is typically represented as an octree extending from the root down to the leaf level of individual voxels. For Category 1 data, the compressed geometry is typically represented by a pruned octree (i.e., an octree extending from the root down to the leaf level of blocks larger than a voxel) and a model approximating the surface within each leaf of the pruned octree. In this way, both Category 1 and Category 3 data share the octree coding mechanism, but Category 1 data may additionally approximate the voxels within each leaf with a surface model. The surface model used is a triangulation with 1 to 10 triangles per block, resulting in a triangle soup. Therefore, Category 1 geometry codecs are known as Trisoup geometry codecs, and Category 3 geometry codecs are known as Octree geometry codecs.

[0035]

[0045] At each node of the octree, the occupancy is signaled (if not inferred) for one or more of its child nodes (up to eight nodes). Multiple neighborhoods are specified, including (a) nodes that share a face with the current octree node, (b) nodes that share a face, edge, or vertex with the current octree node, etc. Within each neighborhood, the occupancy of the node and / or its children can be used to predict the occupancy of the current node or its children. For sparsely distributed points in several nodes of the octree, the codec also supports a direct coding mode, in which the 3D positions of the points are directly coded. A flag can be signaled to indicate that the direct mode is signaled. At the lowest level, the number of points associated with an octree node / leaf node can also be coded.

[0036]

[0046] When geometry is coded, attributes corresponding to the geometry points are coded. When there are multiple attribute points corresponding to one reconstructed / decoded geometry point, an attribute value representing the reconstructed point can be derived.

[0037]

[0047] G-PCC has three attribute coding methods: Region Adaptive Hierarchical Transform (RAHT) coding, interpolation-based hierarchical nearest neighbor prediction (predictive transform), and interpolation-based hierarchical nearest neighbor prediction with an update / lifting step (lifting transform). RAHT and lifting transform are typically used for category 1 data, while predictive transform is typically used for category 3 data. However, either method can be used for any data, and just as in the case of geometry codecs in G-PCC, the attribute coding method used to code point clouds is specified in the bitstream.

[0038]

[0048] The coding of attributes can be done in levels of detail (LOD), with each level of detail obtaining a finer representation of the point cloud attributes, which can be specified based on a distance metric from neighboring nodes or based on a sampling distance.

[0039]

[0049] In the G-PCC encoder 200, the residual obtained as the output of the coding method for the attribute is quantized (e.g., by one of the arithmetic coding units 214 and / or 226). The quantized residual may be coded using context-adaptive arithmetic coding.

[0040]

[0050] In the example of FIG. 2, the G-PCC encoder 200 may include a coordinate transformation unit 202, a color transformation unit 204, a voxelization unit 206, an attribute transfer unit 208, an octree analysis unit 210, a surface approximation analysis unit 212, an arithmetic coding unit 214, a geometry reconstruction unit 216, a RAHT unit 218, an LOD generation unit 220, a lifting unit 222, a coefficient quantization unit 224, and an arithmetic coding unit 226.

[0041]

[0051] 2, the G-PCC encoder 200 may receive a set of locations and a set of attributes. The locations may include coordinates of points in the point cloud. The attributes may include information about the points in the point cloud, such as a color associated with the points in the point cloud.

[0042]

[0052] The coordinate transformation unit 202 may apply a transform to the coordinates of the points to convert the coordinates from the initial domain to the transformation domain. This disclosure may refer to the transformed coordinates as transformed coordinates. The color transformation unit 204 may apply a transform to convert color information of the attributes to a different domain. For example, the color transformation unit 204 may convert color information from the RGB color space to the YCbCr color space.

[0043]

[0053] Further, in the example of FIG. 2, the voxelization unit 206 may voxelize the transformed coordinates. Voxelizing the transformed coordinates may include quantization and removing some points of the point cloud. In other words, multiple points of the point cloud may be contained within a single "voxel," which may then be treated as one point in some respects. Further, the octree analysis unit 210 may generate an octree based on the voxelized transformed coordinates. Further, in the example of FIG. 2, the surface approximation analysis unit 212 may analyze the points to potentially determine a surface representation of the set of points. The arithmetic coding unit 214 may entropy code syntax elements representing the octree and / or surface information determined by the surface approximation analysis unit 212. The G-PCC encoder 200 may output these syntax elements in a geometry bitstream.

[0044]

[0054] The geometry reconstruction unit 216 may reconstruct transformation coordinates of points in the point cloud based on the octree, data indicating the surface determined by the surface approximation analysis unit 212, and / or other information. The number of transformation coordinates reconstructed by the geometry reconstruction unit 216 may differ from the original number of points in the point cloud due to voxelization and surface approximation. This disclosure may refer to the obtained points as reconstructed points. The attribute transfer unit 208 may transfer attributes of the original points in the point cloud to the reconstructed points in the point cloud. As shown in FIG. 2, the attribute transfer unit 208 may transfer the attributes to one or both of the RAHT unit 218 and the LOD generation unit 220.

[0045]

[0055] Further, the RAHT unit 218 may apply RAHT coding to the attributes of the reconstructed points. Alternatively or additionally, the LOD generation unit 220 and the lifting unit 222 may apply LOD processing and lifting, respectively, to the attributes of the reconstructed points. The RAHT unit 218 and the lifting unit 222 may generate coefficients based on the attributes. The coefficient quantization unit 224 may quantize the coefficients generated by the RAHT unit 218 or the lifting unit 222. The arithmetic coding unit 226 may apply arithmetic coding to syntax elements representing the quantized coefficients. The G-PCC encoder 200 may output these syntax elements in an attribute bitstream.

[0046]

[0056] In the example of FIG. 3, the G-PCC decoder 300 may include a geometry arithmetic decoding unit 302, an attribute arithmetic decoding unit 304, an octree synthesis unit 306, an inverse quantization unit 308, a surface approximation synthesis unit 310, a geometry reconstruction unit 312, a RAHT unit 314, an LoD generation unit 316, an inverse lifting unit 318, an inverse transform coordinate unit 320, and an inverse transform color unit 322.

[0047]

[0057] The G-PCC decoder 300 may obtain a geometry bitstream and an attribute bitstream. The geometry arithmetic decoding unit 302 of the decoder 300 may apply arithmetic decoding (e.g., context-adaptive binary arithmetic coding (CABAC) or other types of arithmetic decoding) to syntax elements in the geometry bitstream. Similarly, the attribute arithmetic decoding unit 304 may apply arithmetic decoding to syntax elements in the attribute bitstream.

[0048]

[0058] The octree synthesis unit 306 may synthesize an octree based on syntax elements parsed from the geometry bitstream. In cases where surface approximation is used in the geometry bitstream, the surface approximation synthesis unit 310 may determine a surface model based on the syntax elements parsed from the geometry bitstream and based on the octree.

[0049]

[0059] Further, geometry reconstruction unit 312 may perform reconstruction to determine coordinates of points in the point cloud. Inverse transform coordinate unit 320 may apply an inverse transform to the reconstructed coordinates to convert the reconstructed coordinates (positions) of points in the point cloud from the transformed domain back to the initial domain.

[0050]

[0060] 3, the inverse quantization unit 308 may inverse quantize the attribute values. The attribute values ​​may be based on syntax elements obtained from an attribute bitstream (e.g., including syntax elements decoded by the attribute arithmetic decoding unit 304). As shown in FIG. 3, the inverse quantization unit 308 may forward the attribute values ​​to one or both of the RAHT unit 314 and the LOD generation unit 316.

[0051]

[0061] Depending on how the attribute values ​​are encoded, the RAHT unit 314 may perform RAHT coding to determine color values ​​for the points of the point cloud based on the dequantized attribute values. Alternatively, the LOD generation unit 316 and the inverse lifting unit 318 may determine color values ​​for the points of the point cloud using a level-of-detail-based technique.

[0052]

[0062] 3, the inverse transform color unit 322 may apply an inverse color transform to the color values. The inverse color transform may be the inverse of the color transform applied by the color transform unit 204 of the encoder 200. For example, the color transform unit 204 may transform the color information from the RGB color space to the YCbCr color space. Thus, the inverse color transform unit 322 may transform the color information from the YCbCr color space to the RGB color space.

[0053]

[0063] The various units in FIGS. 2 and 3 are shown to aid in understanding the operations performed by the encoder 200 and the decoder 300. The units may be implemented as fixed-function circuits, programmable circuits, or a combination thereof. A fixed-function circuit refers to a circuit that provides a specific function and is pre-configured as to the operations that may be performed. A programmable circuit refers to a circuit that may be programmed to perform various tasks and to provide flexible functionality in the operations that may be performed. For example, a programmable circuit may execute software or firmware that causes the programmable circuit to operate in a manner defined by the software or firmware instructions. A fixed-function circuit may execute software instructions (e.g., to receive parameters or output parameters), but the types of operations that the fixed-function circuit performs are generally invariant. In some examples, one or more of the units may be separate circuit blocks (fixed function or programmable), and in some examples, one or more of the units may be an integrated circuit.

[0054]

[0064] Predictive geometry coding has been introduced as an alternative to octree geometry coding, in which nodes are arranged in a tree structure (defining the prediction structure), and various prediction strategies are used to predict the coordinates of each node in the tree relative to its predictor. Figure 4 is a conceptual diagram showing a prediction tree 400, an example of a directed graph with arrows pointing in the prediction direction. Horizontally shaded nodes are root vertices and have no predictors; grid-shaded nodes have two children; diagonally shaded nodes have three children; unshaded nodes have one child; and vertically shaded nodes are leaf nodes and have no children. Every node has only one parent node.

[0055]

[0065] Four prediction strategies can be specified for each node based on its parent (p0), grandparent (p1), and great-grandparent (p2). The prediction strategies include no prediction, delta prediction (p0), linear prediction (2*p0-p1), and parallelogram prediction (2*p0+p1-p2).

[0056]

[0066] The encoder (e.g., G-PCC encoder 200) may employ any algorithm to generate the predictive tree; the algorithm used may be determined based on the application / use case, and several strategies may be used. The encoder may encode residual coordinate values ​​in the bitstream for each node in a depth-first manner, starting from the root node. Predictive geometry coding may be particularly useful for Category 3 (LIDAR-collected) point cloud data, e.g., for low-latency applications.

[0057]

[0067] Angular mode can be used in predictive geometry coding, where the characteristics of the LIDAR sensor can be exploited in coding the prediction tree more efficiently. Position coordinates are converted to (r,φ,i) (radius, azimuth, and laser index), and prediction is performed in this domain (residuals are coded in the r,φ,i domain). Due to rounding errors, coding in r,φ,i is not lossless, so a second set of residuals corresponding to Cartesian coordinates may be coded. A description of the encoding and decoding strategy used for angular mode for predictive geometry coding is reproduced below. The description is based on Figures 5A and 5B, which are conceptual diagrams of a rotational LIDAR acquisition model.

[0058]

[0068] The techniques of this disclosure may be applicable to at least point clouds collected using a rotational Lidar model, where the Lidar 502 has N lasers (e.g., N=16, 32, 64) that rotate around the Z axis according to an azimuth angle φ (see FIGS. 5A and 5B). Each laser is located at a different altitude θ(i). i=1...N and height σ(i) i=1...N Laser i strikes a point M with Cartesian integer coordinates (x, y, z), defined according to the coordinate system 500 illustrated in FIG. 5A.

[0059]

[0069] The position of M is modeled using three parameters (r, φ, i) calculated as follows:

[0060]

number

[0061] ,

[0070] More precisely, the coding process is

[0062]

number

[0063] We can use a quantized version of (r,φ,i), denoted as where three integers

[0064]

number

[0065] , and i are calculated as follows:

[0066]

number

[0067] where: (q r ,o r ) and (q φ ,o φ ) are, respectively,

[0068]

number

[0069] is the quantization parameter that controls the precision of

[0070] · sign(t) is a function that returns 1 if t is positive and (-1) otherwise.

[0071] |t| is the absolute value of t.

[0072] To avoid reconstruction inconsistencies due to the use of floating-point arithmetic, σ(i) i=1...N and tan(θ(i)) i=1...N The value of may be pre-computed and quantized as follows:

[0073]

number

[0074] where: (q σ ,oσ ) and (q θ ,o θ ) are, respectively,

[0075]

number

[0076] is the quantization parameter that controls the precision of The reconstructed Cartesian coordinates are obtained as follows:

[0077]

number

[0078] , where app_cos(.) and app_sin(.) are approximations to cos(.) and sin(.). Their calculations may use fixed-point representations, lookup tables, and linear interpolation.

[0079] In some examples,

[0080]

number

[0081] teeth, - Quantization - approximation - Model inaccuracy - Model parameters are inaccurate It may differ from (x,y,z) for various reasons, including:

[0082] In some examples, the reconstruction residual (r x ,r y ,r z ) can be defined as follows:

[0083]

number

[0084]

[0074] In this method, the encoder may proceed as follows.

[0085] Model parameters

[0086]

number

[0087] , and the quantization parameter q r q σ , q θ and q φ Encode the Represents the geometry prediction method described in G-PCC DIS

[0088]

number

[0089] Apply to New predictors can be introduced that exploit the properties of the lidar. For example, the rotation speed of a lidar scanner around the z-axis is typically constant. Therefore, the G-PCC decoder can predict the current

[0090]

number

[0091] can be predicted as follows:

[0092]

number

[0093] where: ○ (δ φ (k)) k=1...Kis the set of potential rates that the encoder can choose from. The index k can be explicitly written into the bitstream or can be inferred from the context based on a deterministic strategy applied by both the encoder and decoder, o n(j) is the number of skipped points, which can be either explicitly written into the bitstream or inferred from the context based on a deterministic strategy applied by both the encoder and the decoder.

[0094] along with each node the reconstruction residual (r x ,r y ,r z )

[0075] The decoder may proceed as follows.

[0095] Model parameters

[0096]

number

[0097] , and the quantization parameter q r q σ , q θ and q φ Decrypt associated with the node according to the geometry prediction method described in the G-PCC Draft International Standard (DIS)

[0098]

number

[0099] Decrypt the parameters Reconstructed coordinates as explained above

[0100]

number

[0101] Calculate · Residual (r x ,r y ,r z ) As explained in the next section, lossy compression reduces the reconstruction residual (r x ,r y ,r z ) can be supported by quantizing Calculate the original coordinates (x,y,z) as follows:

[0102]

number

[0103] Lossy compression replaces the quantization with the reconstruction residual (r x ,r y ,r z ), or by dropping the point.

[0104]

[0077] The quantized reconstruction residual is calculated as follows:

[0105]

number

[0106] where (q x ,o x ), (q y ,o y ) and (q z ,o z ) are, respectively,

[0107]

number

[0108] is the quantization parameter that controls the precision of

[0109] In some examples, the encoder and / or decoder may use trellis quantization to further improve RD (rate-distortion) performance results. The quantization parameters may be varied at the sequence / frame / slice / block level to achieve region-adaptive quality and for rate control purposes.

[0110]

[0079] However, the techniques described above may present one or more drawbacks. For example, the laser index i may form the third component of the geometry when angle mode is used with predictive geometry coding. Because the number of bits for signaling the laser residual may not be tightly bounded (the number of bits for the maximum absolute residual is signaled as log2), the reconstructed laser index may exceed the valid range of the laser index (greater than the number of lasers - 1 or less than 0). This may result in undefined behavior for the decoder when it attempts to decode a bitstream that results in an invalid laser index value. Such undefined behavior may be undesirable.

[0111]

[0080] A similar problem may apply to angle inferred direct coding mode (IDCM) context derivation (in octree coding), where the laser index residual is signaled. Here again, there may be no constraint on the signaled laser index residual, and the bitstream may contain laser index residual values, which may result in laser index values ​​outside the valid range, resulting in undefined behavior for the decoder. Such undefined behavior may be undesirable.

[0112] According to one or more techniques of this disclosure, an encoder (e.g., G-PCC encoder 200) and / or decoder (e.g., G-PCC decoder 300) may perform one or more operations to prevent a decoded laser index from exceeding the valid range of the laser index. In some examples, the valid range of the laser index may be less than or equal to the number of lasers minus 1, or greater than 0 (e.g., 0 to N-1, where N is the number of lasers). The techniques described below may be used independently or combined with each other. By preventing a decoded laser index from falling outside the valid range, the techniques of this disclosure may improve the temporal scalability of a G-PCC bitstream.

[0113]

[0082] As a first exemplary technique, the G-PCC encoder 200 and / or the G-PCC decoder 300 may apply a constraint that the laser index obtained after reconstruction of the first-order residual when the angle mode is used in predictive geometry coding is within a valid laser index range. In some examples, when N lasers are specified in the bitstream, the valid laser index range may be 0 to N-1, inclusive.

[0114]

[0083] Two examples of the first technique are as follows. As a first example of the first technique, the following conformance constraint may be added to ensure that the reconstructed laser index is within the valid laser index range: "It is a bitstream conformance requirement that the value of the laser index reconstructed from the first order residual when angle mode is used in the predicted geometry shall be within the range of 0 to num_lasers_minus1, inclusive." In this example, num_lasers_minus1 is used to indicate a value of the number of lasers minus 1. As a second example of the first technique, the following conformance constraint may be added to ensure that the reconstructed laser index is within the valid laser index range: "It is a bitstream conformance requirement that the value of the reconstructed laser index shall be within the range of 0 to num_lasers_minus1, inclusive."

[0084] If the G-PCC encoder 200 enforces constraints, the behavior of the G-PCC decoder 300 may be affected. For example, if the G-PCC encoder 200 constrains the value of the reconstructed laser index to be within a valid laser index range, the G-PCC decoder 300 may correctly decode bits in the bitstream that follow the bits representing the reconstructed laser index and avoid undefined behavior.

[0115]

[0085] As a second exemplary technique, the G-PCC decoder 300 may clip the laser index generated by reconstruction of the first-order residual so that the clipped laser index is within the valid laser index range.

[0116]

[0086] An example of the second technique is as follows: In this example, the G-PCC decoder 300 may clip the laser index value obtained by reconstructing the first-order residual to be within the valid range of the laser index. For example, the G-PCC decoder 300 may perform the following: The reconstructed value of laser index i is updated by setting it equal to Clip3(i, 0, num_lasers_minus1). In other words, the reconstructed Cartesian coordinates

[0117]

number

[0118] can be obtained as follows:

[0119]

number

[0120] As a third example, the G-PCC decoder 300 may implement a default behavior when the reconstructed laser index is outside the valid range of the laser index. For example, when the laser index i does not correspond to a valid laser index (e.g., is outside the valid range of the laser index),

[0121]

number

[0122] The value of can be inferred to be a default value so that the decoder behavior is well-defined. For example,

[0123]

number

[0124] The default value of may be set to be 0,

[0125]

number

[0126] The default value of may be set to correspond to an angle of 0 (i.e.,

[0127]

number

[0128] The value of may also be set to 0).

[0129]

[0088] As a fourth example, the G-PCC encoder 200 and / or the G-PCC decoder 300 may apply any combination of the first to third examples described above (e.g., clipping, explicit constraints, default behavior, etc.) to the laser index values ​​derived from the laser index residuals signaled for the angle IDCM context derivation. For example, the G-PCC encoder 200 and / or the G-PCC decoder 300 may clip the laser index values ​​obtained by using the laser index residuals in the angle IDCM context derivation to a valid laser index range. As one explicit example, the G-PCC encoder 200 and / or the G-PCC decoder 300 may perform the following:

[0130]

number

[0131] where laserIndexEstimate[Child]+laserIndexResidual[Child] is the laser index residual in the angular IDCM context derivation, 0 is the lower bound of the valid laser range, and num_lasers_minus1 is the upper bound of the valid laser range.

[0132]

[0089] Figure 6 is a flow diagram illustrating an example technique for processing a point cloud, in accordance with one or more techniques of this disclosure. Although described with respect to G-PCC encoder 200 (Figures 1 and 2), it should be understood that other devices may be configured to perform a method similar to that of Figure 6.

[0133] The G-PCC encoder 200 may determine 602 the number of lasers used to capture light detection and ranging (LIDAR) data representing the point cloud. For example, (e.g., in any of the examples of FIGS. 7-10 ) the G-PCC encoder 200 may determine that N lasers (e.g., N=16, 32, 64) were used to capture the LIDAR data. In some examples, the G-PCC encoder 200 may encode in the bitstream a syntax element that represents the determined number of lasers. For example, the G-PCC encoder may encode (e.g., in the geometry parameter set) a num_lasers_minus1 syntax element that represents the number of lasers minus 1.

[0134] The G-PCC encoder 200 may encode a laser index for the current node of the point cloud (604). As described above, as opposed to directly signaling the laser index for the current node, the G-PCC encoder may signal the difference between the predicted laser index and the actual laser index for the current node. In some examples, the G-PCC encoder 200 may encode the laser index value in response to determining to encode the current node using the angle coding mode of predictive geometry coding.

[0135] For example, the G-PCC encoder 200 may obtain a predicted laser index value for the current node (606). The predicted laser index may be a laser index determined according to one or more of the parent node (p0) of the current node, the grandparent (p1) of the current node, and / or the great-grandparent (p2) of the current node (using one or more of delta prediction, linear prediction, or parallelogram prediction, see FIG. 4). In some examples, the G-PCC encoder 200 may select a candidate laser index from multiple candidate predicted laser indexes that most closely matches the laser index of the current node, and signal a syntax element indicating which of the multiple candidate predicted laser indexes is the selected predicted laser index for the current node.

[0136] The G-PCC encoder 200 may determine a residual laser index value for the current node (608). For example, the G-PCC encoder 200 may determine the difference between the actual laser index value for the current node and the selected predicted laser index value for the current node (e.g., if the actual laser index value is 4 and the predicted laser index value is 1, the G-PCC encoder may determine that the residual laser index value is 3). The G-PCC decoder (e.g., the G-PCC decoder 300) may reconstruct the actual laser index value by adding (e.g., adding) the predicted laser index value to the residual laser index value. However, due to errors in rounding and other sources, the reconstructed laser index i may exceed the valid range of laser indices (e.g., indicate a non-existent laser). Such a result may result in undefined behavior of the decoder, which may be undesirable.

[0137] According to one or more techniques of this disclosure, the G-PCC encoder 200 may constrain the value of the reconstructed laser index to be within the valid range of the laser index. For example, the G-PCC encoder 200 may determine the residual laser index value by constraining at least the sum of the residual laser index value and the predicted laser index value to be less than or equal to the determined amount of laser minus 1 (608). As an example, in response to determining that the laser index of the current node will be reconstructed outside the valid range of the laser index, the G-PCC encoder 200 may adjust the encoding of the laser index of the current node (e.g., by reducing the value of the residual laser index) so that the laser index will be reconstructed within the valid range.

[0138]

[0095] G-PCC encoder 200 may encode, in the bitstream, one or more syntax elements that represent the residual laser index value (610). For example, G-PCC encoder 200 may encode a first syntax element that indicates whether the absolute value of the residual laser index value is greater than 0. If the absolute value of the residual laser index value is greater than 0, G-PCC encoder 200 may encode a second syntax element that represents the absolute value of the residual laser index value and a third syntax element that represents the sign of the residual laser index value.

[0139] FIG. 7 is a conceptual diagram illustrating an example ranging system 700 that may be used with one or more techniques of the present disclosure. In the example of FIG. 7, the ranging system 700 includes an illuminator 702 and a sensor 704. The illuminator 702 may emit light 706. In some examples, the illuminator 702 may emit the light 706 as one or more laser beams. The light 706 may be at one or more wavelengths, such as infrared wavelengths or visible light wavelengths. In other examples, the light 706 is not coherent laser light. When the light 706 encounters an object, such as an object 708, the light 706 produces returned light 710. The returned light 710 may include backscattered light and / or reflected light. The returned light 710 may pass through a lens 711, which directs the returned light 710 to produce an image 712 of the object 708 on a sensor 704. The sensor 704 generates a signal 714 based on the image 712. Image 712 may comprise a set of points (eg, represented by dots in image 712 of FIG. 8).

[0140] In some examples, the illuminator 702 and sensor 704 may be mounted on a rotating structure such that the illuminator 702 and sensor 704 capture a 360-degree view of the environment. In other examples, the ranging system 700 may include one or more optical components (e.g., mirrors, collimators, diffraction gratings, etc.) that enable the illuminator 702 and sensor 704 to detect a range of objects within a certain range (e.g., up to 360 degrees). Although the example of FIG. 7 shows only a single illuminator 702 and sensor 704, the ranging system 700 may include multiple sets of illuminators and sensors.

[0141] In some examples, the illuminator 702 generates a structured light pattern. In such examples, the ranging system 700 may include multiple sensors 704 on which respective images of the structured light pattern are formed. The ranging system 700 may use the parallax between the images of the structured light pattern to determine the distance to an object 708 from which the structured light pattern is backscattered. A structured light-based ranging system may have a high level of accuracy (e.g., accuracy in the submillimeter range) when the object 708 is relatively close (e.g., 0.2 meters to 2 meters) to the sensor 704. This high level of accuracy may be useful in facial recognition applications, such as unlocking a mobile device (e.g., a mobile phone, a tablet computer, etc.), and for security applications.

[0142] In some examples, the ranging system 700 is a time-of-flight (ToF)-based system. In some examples where the ranging system 700 is a ToF-based system, the illuminator 702 generates pulses of light. In other words, the illuminator 702 may modulate the amplitude of the emitted light 706. In such examples, the sensor 704 detects returning light 710 from the pulses of light 706 generated by the illuminator 702. The ranging system 700 can then determine the distance to the object 708 from which the light 706 is backscattered based on the delay between when the light 706 is emitted and detected and the known speed of light in air. In some examples, instead of (or in addition to) modulating the amplitude of the emitted light 704, the illuminator 702 may modulate the phase of the emitted light 704. In such an example, the sensor 704 may detect the phase of the returning light 710 from the object 708 and determine the distance to a point on the object 708 using the speed of light and based on the time difference between when the illuminator 702 generated the light 706 at a particular phase and when the sensor 704 detected the returning light 710 at a particular phase.

[0143] In other examples, the point cloud may be generated without using the illuminator 702. For example, in some examples, the sensor 704 of the ranging system 700 may include two or more optical cameras. In such examples, the ranging system 700 may use the optical cameras to capture stereo images of an environment including the object 708. The ranging system 700 may include a point cloud generator 716 that may calculate disparity between locations in the stereo images. The ranging system 700 may then use the disparity to determine distances to locations shown in the stereo images. From these distances, the point cloud generator 716 may generate a point cloud.

[0144] 7, the point cloud generator 716 may generate a point cloud based on the signal 714 generated by the sensor 704. The ranging system 700 and / or the point cloud generator 716 may form part of the data source 104 (FIG. 1). Thus, the point cloud generated by the ranging system 700 may be encoded and / or decoded according to any of the techniques of this disclosure.

[0145] FIG. 8 is a conceptual diagram illustrating an example vehicle-based scenario in which one or more techniques of this disclosure may be used. In the example of FIG. 8, a vehicle 800 includes a ranging system 802. The ranging system 802 may be implemented in the manner described with respect to FIG. 8. Although not shown in the example of FIG. 8, the vehicle 800 may also include a data source, such as data source 104 (FIG. 1), and a G-PCC encoder, such as G-PCC encoder 200 (FIG. 1). In the example of FIG. 8, the ranging system 802 emits a laser beam 804 that reflects off a pedestrian 806 or other objects in the road. The data source of the vehicle 800 may generate a point cloud based on a signal generated by the ranging system 802. The G-PCC encoder of the vehicle 800 may encode the point cloud to generate a bitstream 808, such as a geometry bitstream (FIG. 2) and an attribute bitstream (FIG. 2). The bitstream 808 may include many fewer bits than the unencoded point cloud obtained by the G-PCC encoder.

[0146] An output interface of vehicle 800 (e.g., output interface 108 (FIG. 1)) may transmit bitstream 808 to one or more other devices. Bitstream 808 may include many fewer bits than the unencoded point cloud obtained by the G-PCC encoder. Thus, vehicle 800 may be able to transmit bitstream 808 to other devices more quickly than unencoded point cloud data. Furthermore, bitstream 808 may require less data storage capacity.

[0147] In the example of FIG. 8, vehicle 800 may transmit bitstream 808 to another vehicle 810. Vehicle 810 may include a G-PCC decoder, such as G-PCC decoder 300 (FIG. 1). The G-PCC decoder of vehicle 810 may decode bitstream 808 to reconstruct a point cloud. Vehicle 810 may use the reconstructed point cloud for various purposes. For example, vehicle 810 may determine, based on the reconstructed point cloud, that pedestrian 806 is in the road ahead of vehicle 800 and therefore, for example, to begin slowing down even before the driver of vehicle 810 realizes that pedestrian 806 is in the road. Thus, in some examples, vehicle 810 may perform autonomous navigation operations based on the reconstructed point cloud.

[0148] Additionally or alternatively, vehicle 800 may transmit bitstream 808 to server system 812. Server system 812 may use bitstream 808 for various purposes. For example, server system 812 may store bitstream 808 for subsequent reconstruction of a point cloud. In this example, server system 812 may use the point cloud along with other data (e.g., vehicle telemetry data generated by vehicle 800) to train an autonomous driving system. In another example, server system 812 may store bitstream 808 for subsequent reconstruction for forensic accident investigation.

[0149] FIG. 9 is a conceptual diagram illustrating an example extended reality system in which one or more techniques of this disclosure may be used. Extended reality is a term used to cover a range of technologies, including augmented reality, mixed reality (MR), and virtual reality (VR). In the example of FIG. 9, a user 900 is located at a first location 902. The user 900 is wearing an XR headset 904. As an alternative to the XR headset 904, the user 900 may use a mobile device (e.g., a mobile phone, a tablet computer, etc.). The XR headset 904 includes a depth-sensing sensor, such as a ranging system, that detects the position of a point on an object 906 at the location 902. A data source of the XR headset 904 may use signals generated by the depth-sensing sensor to generate a point cloud representation of the object 906 at the location 902. The XR headset 904 may include a G-PCC encoder (e.g., the G-PCC encoder 200 of FIG. 1) configured to encode the point cloud to generate a bitstream 908.

[0150] The XR headset 904 may transmit the bitstream 908 (e.g., over a network such as the Internet) to an XR headset 910 worn by a user 912 at a second location 914. The XR headset 910 may decode the bitstream 908 to reconstruct a point cloud. The XR headset 910 may use the point cloud to generate an XR visualization (e.g., an AR, MR, or VR visualization) representing the object 906 at the location 902. Thus, in some examples, the user 912 may have a 3D immersive experience of the location 902, such as when the XR headset 910 generates a VR visualization. In some examples, the XR headset 910 may determine the position of a virtual object based on the reconstructed point cloud. For example, the XR headset 910 may determine, based on the reconstructed point cloud, that the environment (e.g., the location 902) includes a flat surface and then determine that a virtual object (e.g., a cartoon character) should be placed on the flat surface. The XR headset 910 may generate an XR visualization of the virtual object in the determined position. For example, the XR headset 910 may show a cartoon character sitting on a flat surface.

[0151] FIG. 10 is a conceptual diagram illustrating an example mobile device system in which one or more techniques of this disclosure may be used. In the example of FIG. 10, a mobile device 1000, such as a mobile phone or tablet computer, includes a ranging system, such as a LIDAR system, that detects the location of points on an object 1002 in the environment of the mobile device 1000. A data source of the mobile device 1000 may use signals generated by a depth-sensing sensor to generate a point cloud representation of the object 1002. The mobile device 1000 may include a G-PCC encoder (e.g., G-PCC encoder 200 of FIG. 1) configured to encode the point cloud to generate a bitstream 1004. In the example of FIG. 10, the mobile device 1000 may transmit the bitstream to a remote device 1006, such as a server system or another mobile device. The remote device 1006 may decode the bitstream 1004 to reconstruct the point cloud. The remote device 1006 may use the point cloud for various purposes. For example, the remote device 1006 may use the point cloud to generate a map of the environment of the mobile device 1000. For example, the remote device 1006 may generate a map of the interior of a building based on the reconstructed point cloud. In another example, the remote device 1006 may generate imagery (e.g., computer graphics) based on the point cloud. For example, the remote device 1006 may use the points of the point cloud as vertices of a polygon and use the color attributes of the points as a basis for shading the polygon. In some examples, the remote device 1006 may use the reconstructed point cloud for facial recognition or other security applications.

[0152]

[0109] The following numbered clauses may describe one or more aspects of the disclosure.

[0153]

[0110] Clause 1A. A method for processing a point cloud, the method comprising: determining a valid range for a laser index; obtaining laser index values ​​of light detection and ranging (LIDAR) data representing the point cloud; constraining reconstructed laser index values ​​to be within the determined valid range; and encoding the constrained reconstructed laser index in a bitstream.

[0154]

[0111] Clause 1B. A method for processing a point cloud, the method comprising: determining an effective range for a laser index; reconstructing laser index values ​​of light detection and ranging (LIDAR) data representing the point cloud based on a bit stream; clipping the reconstructed laser index values ​​to be within the determined effective range; and decoding the point cloud based on the clipped reconstructed laser index.

[0155]

[0112] Clause 2B. The method described in Clause 1B, wherein the valid range includes a minimum value and a maximum value, and wherein clipping the reconstructed laser index value comprises increasing the reconstructed laser index value to the minimum value, where the reconstructed laser index value is less than the minimum value, or reducing the reconstructed laser index value to the maximum value, where the reconstructed laser index value is greater than the minimum value.

[0156]

[0113] Clause 1C. A method for processing a point cloud, the method comprising: determining a valid range for a laser index; reconstructing laser index values ​​of light detection and ranging (LIDAR) data representing the point cloud based on the bit stream; inferring default values ​​for one or more model parameters in response to determining that the reconstructed laser index values ​​are not within the determined valid range; and decoding the point cloud based on the default values ​​for the one or more model parameters.

[0157] Clause 2C. One or more model parameters are:

[0158]

number

[0159] 1C. The method of claim 1C, comprising one or both of:

[0160]

[0115] Clause 3C.

[0161]

number

[0162] Inferring default values ​​for

[0163]

number

[0164] The method of clause 2C, comprising inferring that the value of is 0.

[0165]

[0116] Clause 4C.

[0166]

number

[0167] Inferring default values ​​for

[0168]

number

[0169] The method of any one of clauses 2C and 3C, comprising inferring that the value of is zero.

[0170]

[0117] Clause 1D. A method for processing a point cloud, the method comprising: determining a valid range for a laser index; reconstructing laser index values ​​of light detection and ranging (LIDAR) data representing the point cloud based on the bitstream and using laser index residuals in angle inference direct coding mode (IDCM) context derivation; clipping the reconstructed laser index values ​​to be within the determined valid range; and decoding the point cloud based on the clipped reconstructed laser index.

[0171]

[0118] Clause 1E. A method for encoding a point cloud, the method comprising: determining, by one or more processors, a quantity of laser to be used to capture light detection and ranging (LIDAR) data representing the point cloud; and encoding, by the one or more processors, a laser index for a current node of the point cloud, wherein encoding the laser index comprises obtaining a predicted laser index value for the current node and determining a residual laser index value for the current node; and encoding one or more syntax elements representing the residual laser index value in a bitstream, wherein determining the residual laser index value comprises constraining the sum of the residual laser index value and the predicted laser index value based on the determined quantity of laser.

[0172]

[0119] Clause 2E. The method described in Clause 1E, wherein constraining the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser comprises constraining the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1.

[0173]

[0120] Clause 3E. The method described in clause 2E, wherein constraining the sum of the residual laser index value and the predicted laser index value comprises clipping the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to a determined amount of laser minus 1.

[0174]

[0121] Clause 4E. The method of clause 1E, further comprising encoding, in the bitstream, a syntax element representing the determined amount of laser.

[0175]

[0122] Clause 5E. The method described in clause 1E, wherein encoding the laser index comprises encoding the laser index in response to determining to encode the current node using an angle coding mode of predictive geometry coding.

[0176]

[0123] Clause 6E. The method of clause 1E, wherein the one or more processors are included in a vehicle or a head-mounted device (HMD).

[0177]

[0124] Clause 7E. A method for decoding a point cloud, the method comprising: determining, by one or more processors, a quantity of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; and decoding, by the one or more processors, a laser index for a current node of the point cloud, wherein decoding the laser index comprises obtaining a predicted laser index value for the current node; decoding from the bitstream one or more syntax elements representing a residual laser index value for the current node; and reconstructing a laser index for the current node as the sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained based on the determined quantity of laser.

[0178]

[0125] Clause 8E. The method described in clause 7E, wherein the laser index of the current node is constrained to be greater than or equal to 0 and less than or equal to the determined amount of lasers minus 1, so as to be constrained based on the determined amount of lasers.

[0179]

[0126] Clause 9E. The method described in clause 8E, wherein the laser index of the current node is clipped to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 to be constrained based on the determined amount of laser.

[0180]

[0127] Clause 10E. The method of clause 7E, further comprising decoding from the bitstream a syntax element representing the determined amount of laser.

[0181]

[0128] Clause 11E. The method described in clause 7E, wherein decoding the laser index comprises decoding the laser index in response to determining that the current node is encoded using an angular coding mode of predictive geometry coding.

[0182]

[0129] Clause 12E. A device for encoding a point cloud, the device comprising: a memory configured to store at least a portion of the point cloud; and one or more processors implemented in circuitry, the one or more processors configured to determine an amount of laser to be used to capture light detection and ranging (LIDAR) data representing the point cloud; and encode a laser index for a current node of the point cloud, wherein, to encode the laser index, the one or more processors obtain a predicted laser index value for the current node and determine a residual laser index value for the current node; and, wherein, to determine the residual laser index value, the one or more processors are configured to constrain the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser.

[0183]

[0130] Clause 13E. A device as described in clause 12E, wherein one or more processors are configured to constrain the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1, in order to constrain the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser.

[0184]

[0131] Clause 14E. A device as described in clause 13E, wherein one or more processors are configured to constrain the sum of the residual laser index value and the predicted laser index value by clipping the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1, based on the determined amount of laser.

[0185]

[0132] Clause 15E. The device described in clause 12E, wherein the one or more processors are further configured to encode, in the bitstream, a syntax element representing the determined quantity of laser.

[0186]

[0133] Clause 16E. A device as described in clause 12E, configured to encode the laser index in response to one or more processors determining to encode the current node using an angular coding mode of predictive geometry coding, in order to encode the laser index.

[0187]

[0134] Clause 17E. The device of clause 12E, wherein the device is a vehicle or a head-mounted device (HMD).

[0188]

[0135] Clause 18E. A device for decoding a point cloud, the device comprising: a memory configured to store at least a portion of the point cloud; and one or more processors implemented in circuitry, the one or more processors configured to determine an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; and decode a laser index for a current node of the point cloud, wherein, to decode the laser index, the one or more processors are configured to obtain a predicted laser index value for the current node; decode from the bitstream one or more syntax elements representing a residual laser index value for the current node; and reconstruct a laser index for the current node as the sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained based on the determined amount of laser.

[0189]

[0136] Clause 19E. A device as described in clause 18E, wherein the laser index of the current node is constrained to be greater than or equal to 0 and less than or equal to the determined quantity of lasers minus 1, so as to be constrained based on the determined quantity of lasers.

[0190]

[0137] Clause 20E. A device as described in clause 19E, wherein the laser index of the current node is clipped to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 so as to be constrained based on the determined amount of laser.

[0191]

[0138] Clause 21E. The device described in clause 18E, wherein the one or more processors are further configured to decode, from the bitstream, a syntax element representing the determined quantity of laser.

[0192]

[0139] Clause 22E. A device as described in Clause 18E, wherein to decode the laser index, the one or more processors are configured to decode the laser index in response to determining that the current node is encoded using an angular coding mode of predictive geometry coding.

[0193]

[0140] Clause 1F. A method for encoding a point cloud, the method comprising: determining, by one or more processors, a quantity of laser to be used to capture light detection and ranging (LIDAR) data representing the point cloud; and encoding, by the one or more processors, a laser index for a current node of the point cloud, wherein encoding the laser index comprises obtaining a predicted laser index value for the current node; and determining a residual laser index value for the current node; and wherein determining the residual laser index value comprises constraining the sum of the residual laser index value and the predicted laser index value based on the determined quantity of laser; and encoding one or more syntax elements representing the residual laser index value in a bitstream.

[0194]

[0141] Clause 2F. The method described in clause 1F, wherein constraining the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser comprises constraining the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1.

[0195]

[0142] Clause 3F. The method described in clause 2F, wherein constraining the sum of the residual laser index value and the predicted laser index value comprises clipping the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to a determined amount of laser minus 1.

[0196]

[0143] Clause 4F. The method of any of clauses 1F to 3F, further comprising encoding in the bitstream a syntax element representing the determined amount of laser.

[0197]

[0144] Clause 5F. A method according to any of clauses 1F to 4F, wherein encoding the laser index comprises encoding the laser index in response to determining to encode the current node using an angle coding mode of predictive geometry coding.

[0198]

[0145] Clause 6F. The method of any of clauses 1F to 5F, wherein the one or more processors are included in a vehicle or a head-mounted device (HMD).

[0199]

[0146] Clause 7F. A method for decoding a point cloud, the method comprising: determining, by one or more processors, a quantity of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; and decoding, by the one or more processors, a laser index for a current node of the point cloud, wherein decoding the laser index comprises obtaining a predicted laser index value for the current node; decoding from the bitstream one or more syntax elements representing a residual laser index value for the current node; and reconstructing a laser index for the current node as a sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained based on the determined quantity of laser.

[0200]

[0147] Clause 8F. The method of clause 7F, wherein the laser index of the current node is constrained to be greater than or equal to 0 and less than or equal to the determined amount of lasers minus 1, so as to be constrained based on the determined amount of lasers.

[0201]

[0148] Clause 9F. The method of clause 8F, wherein the laser index of the current node is clipped to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 to be constrained based on the determined amount of laser.

[0202]

[0149] Clause 10F. The method of any of clauses 7F to 9F, further comprising decoding from the bitstream a syntax element representing the determined amount of laser.

[0203]

[0150] Clause 11F. A method according to any of clauses 7F to 10F, wherein decoding the laser index comprises decoding the laser index in response to determining that the current node is encoded using an angular coding mode of predictive geometry coding.

[0204]

[0151] Clause 12F. A device for encoding a point cloud, the device comprising: a memory configured to store at least a portion of the point cloud; and one or more processors implemented in circuitry, the one or more processors configured to determine an amount of laser to be used to capture light detection and ranging (LIDAR) data representing the point cloud; and encode a laser index for a current node of the point cloud, wherein, to encode the laser index, the one or more processors obtain a predicted laser index value for the current node and determine a residual laser index value for the current node; and, wherein, to determine the residual laser index value, the one or more processors are configured to constrain the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser.

[0205]

[0152] Clause 13F. A device as described in clause 12F, wherein one or more processors are configured to constrain the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1, in order to constrain the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser.

[0206]

[0153] Clause 14F. A device as described in clause 13F, wherein one or more processors are configured to constrain the sum of the residual laser index value and the predicted laser index value by clipping the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1, based on the determined amount of laser.

[0207]

[0154] Clause 15F. A device described in any of clauses 12F to 14F, wherein the one or more processors are further configured to encode, in the bitstream, a syntax element representing the determined quantity of laser.

[0208]

[0155] Clause 16F. A device described in any of clauses 12F to 15F, wherein, to encode the laser index, one or more processors are configured to encode the laser index in response to determining to encode the current node using an angular coding mode of predictive geometry coding.

[0209]

[0156] Clause 17F. A device according to any of clauses 12F to 16F, wherein the device is a vehicle or a head-mounted device (HMD).

[0210]

[0157] Clause 18F. A device for decoding a point cloud, the device comprising: a memory configured to store at least a portion of the point cloud; and one or more processors implemented in circuitry, the one or more processors configured to determine an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; and decode a laser index for a current node of the point cloud, wherein, to decode the laser index, the one or more processors are configured to obtain a predicted laser index value for the current node; decode from the bitstream one or more syntax elements representing a residual laser index value for the current node; and reconstruct a laser index for the current node as the sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained based on the determined amount of laser.

[0211]

[0158] Clause 19F. A device as described in clause 18F, wherein the laser index of the current node is constrained to be greater than or equal to 0 and less than or equal to the determined quantity of lasers minus 1, so as to be constrained based on the determined quantity of lasers.

[0212]

[0159] Clause 20F. A device as described in clause 19F, wherein the laser index of the current node is clipped to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 so as to be constrained based on the determined amount of laser.

[0213]

[0160] Clause 21F. A device described in any of clauses 18F to 20F, wherein one or more processors are further configured to decode from the bitstream a syntax element representing the determined quantity of laser.

[0214]

[0161] Clause 22F. A device described in any of clauses 18F to 21F, wherein to decode the laser index, the one or more processors are configured to decode the laser index in response to determining that the current node is encoded using an angular coding mode of predictive geometry coding.

[0215]

[0162] Clause 1Z. A device for processing a point cloud, the device comprising one or more means for performing the method described in any of clauses 1A to 22F.

[0216]

[0163] Clause 2Z. The device of clause 1Z, wherein the one or more means comprise one or more processors implemented in circuitry.

[0217]

[0164] Clause 3Z. The device of any of clauses 1Z or 2Z, further comprising a memory for storing data representing the point cloud.

[0218]

[0165] Clause 4Z. A device according to any one of clauses 1Z to 3Z, wherein the device comprises a video decoder.

[0219]

[0166] Clause 5Z. A device according to any one of clauses 1Z to 4Z, wherein the device comprises an encoder.

[0220]

[0167] Clause 6Z. A device according to any one of clauses 1Z to 5Z, further comprising a device for generating a point cloud.

[0221]

[0168] Clause 7Z. The device of any of clauses 1Z to 6Z, further comprising a display for presenting an image based on the point cloud.

[0222]

[0169] Clause 8Z. A computer-readable storage medium having stored thereon instructions that, when executed, cause one or more processors to perform a method according to any one of clauses 1A to 22F.

[0223]

[0170] The examples in the various aspects of the present disclosure may be used individually or in any combination.

[0224] It should be appreciated that, depending on the example, some acts or events of any of the techniques described herein may be performed in a different sequence, added, merged, or entirely excluded (e.g., not all described acts or events may be required to practice the techniques). Moreover, in some examples, acts or events may be performed simultaneously rather than sequentially, for example, through multithreaded processing, interrupt processing, or multiple processors.

[0225] In one or more examples, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code and executed by a hardware-based processing unit. Computer-readable media may include computer-readable storage media, which correspond to tangible media such as data storage media, or communication media, including any medium that facilitates transfer of a computer program from one place to another, for example, according to a communications protocol. In this manner, computer-readable media may generally correspond to (1) tangible computer-readable storage media that is non-transitory, or (2) a communication medium such as a signal or carrier wave. Data storage media may be any available medium that can be accessed by one or more computers or one or more processors to retrieve instructions, code, and / or data structures for implementing the techniques described in this disclosure. A computer program product may include computer-readable media.

[0226]

[0173] By way of example, and not limitation, such computer-readable storage media may comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if instructions are transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included within the definition of medium. However, it should be understood that computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other transitory media, but instead cover non-transitory tangible storage media. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically and discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0227]

[0174] The instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the terms "processor" and "processing circuitry," as used herein, may refer to any of the above structures or any other structure suitable for implementing the techniques described herein. Furthermore, in some aspects, the functionality described herein may be provided in dedicated hardware and / or software modules configured for encoding and decoding, or incorporated into a combined codec. Also, the techniques may be fully implemented in one or more circuits or logic elements.

[0228] The techniques of this disclosure may be implemented in a wide variety of devices or apparatuses, including wireless handsets, integrated circuits (ICs), or sets of ICs (e.g., chipsets). Although various components, modules, or units have been described in this disclosure to highlight functional aspects of devices configured to implement the disclosed techniques, those components, modules, or units do not necessarily require realization by different hardware units. Rather, as described above, the various units may be combined in a codec hardware unit or provided by a collection of interoperable hardware units, including one or more processors described above, along with suitable software and / or firmware.

[0229]

[0176] Various examples have been described. These and other examples are within the scope of the following claims. The inventions described in the claims of the present application as originally filed are set forth below. [C1] 1. A method for encoding a point cloud, comprising: determining, by one or more processors, an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; encoding, by the one or more processors, a laser index for a current node of the point cloud; and encoding the laser index comprises: obtaining a predicted laser index value for the current node; determining a residual laser index value for the current node, wherein determining the residual laser index value comprises constraining a sum of the residual laser index value and the predicted laser index value based on the determined amount of laser. encoding, in a bitstream, one or more syntax elements representing the residual laser index values; A method comprising: [C2] Constraining the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser includes: constraining the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1; The method of C1, comprising: [C3] The method of claim 2, wherein constraining the sum of the residual laser index value and the predicted laser index value comprises clipping the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1. [C4] encoding in the bitstream a syntax element representing the determined quantity of laser; The method of C1, further comprising: [C5] The method of C1, wherein encoding the laser index comprises encoding the laser index in response to determining to encode the current node using an angular coding mode of predictive geometry coding. [C6] The method of C1, wherein the one or more processors are included in a vehicle or a head-mounted device (HMD). [C7] 1. A method for decoding a point cloud, comprising: determining, by one or more processors, an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; decoding, by the one or more processors, a laser index for a current node of the point cloud; and decoding the laser index comprises: obtaining a predicted laser index value for the current node; decoding, from a bitstream, one or more syntax elements representing a residual laser index value for the current node; reconstructing the laser index of the current node as a sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained based on the determined amount of laser. A method comprising: [C8] The method of C7, wherein the laser index of the current node is constrained to be greater than or equal to 0 and less than or equal to the determined amount of lasers minus 1, so as to be constrained based on the determined amount of lasers. [C9] The method of claim C8, wherein the laser index of the current node is clipped to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 to be constrained based on the determined amount of laser. [C10] decoding, from the bitstream, a syntax element representing the determined quantity of laser; The method of C7, further comprising: [C11] The method of C7, wherein decoding the laser index comprises decoding the laser index in response to determining that the current node is encoded using an angular coding mode of predictive geometry coding. [C12] 1. A device for encoding a point cloud, comprising: a memory configured to store at least a portion of the point cloud; one or more processors implemented in circuitry; wherein the one or more processors: determining an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; encoding a laser index for a current node of the point cloud; and, to encode the laser index, the one or more processors are configured to: obtaining a predicted laser index value for the current node; determining a residual laser index value for the current node, wherein to determine the residual laser index value, the one or more processors are configured to constrain a sum of the residual laser index value and the predicted laser index value based on the determined quantity of laser. encoding, in a bitstream, one or more syntax elements representing the residual laser index values; A device configured to: [C13] To constrain the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser, the one or more processors: constraining the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 based on the determined amount of laser; 13. The device of claim 12, configured to: [C14] To constrain the sum of the residual laser index value and the predicted laser index value, the one or more processors: clipping the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1; 14. The device of claim 13, configured to: [C15] the one or more processors: encoding in the bitstream a syntax element representing the determined quantity of laser; The device of C12, further configured to: [C16] The device described in C12, wherein, to encode the laser index, the one or more processors are configured to encode the laser index in response to determining to encode the current node using an angular coding mode of predictive geometry coding. [C17] The device of C12, wherein the device is a vehicle or a head-mounted device (HMD). [C18] 1. A device for decoding a point cloud, comprising: a memory configured to store at least a portion of the point cloud; one or more processors implemented in circuitry; wherein the one or more processors: determining an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; decoding a laser index for a current node of the point cloud; and, to decode the laser index, the one or more processors are configured to: obtaining a predicted laser index value for the current node; decoding, from a bitstream, one or more syntax elements representing a residual laser index value for the current node; reconstructing the laser index of the current node as a sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained based on the determined amount of laser. A device configured to: [C19] The device described in C18, wherein the laser index of the current node is constrained to be greater than or equal to 0 and less than or equal to the determined amount of lasers minus 1, so as to be constrained based on the determined amount of lasers. [C20] The device described in C19, wherein the laser index of the current node is clipped to be greater than or equal to 0 and less than or equal to the determined amount of laser -1 to be constrained based on the determined amount of laser. [C21] the one or more processors: decoding, from the bitstream, a syntax element representing the determined quantity of laser; The device of C18, further configured to: [C22] The device of C18, wherein to decode the laser index, the one or more processors are configured to decode the laser index in response to determining that the current node is encoded using an angular coding mode of predictive geometry coding.

Claims

1. 1. A method for encoding a point cloud, comprising: determining, by one or more processors, an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; encoding, by the one or more processors, a laser index for a current node of the point cloud; and encoding the laser index comprises: i) obtaining a predicted laser index value of the current node; ii) determining a residual laser index value for the current node, wherein determining the residual laser index value comprises constraining a sum of the residual laser index value and the predicted laser index value based on the determined amount of laser. iii) encoding in a bitstream one or more syntax elements representing said residual laser index values; A method comprising:

2. 1. A method for decoding a point cloud, comprising: determining, by one or more processors, an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; decoding, by the one or more processors, a laser index for a current node of the point cloud; and decoding the laser index comprises: i) obtaining a predicted laser index value of the current node; ii) decoding from the bitstream one or more syntax elements representing a residual laser index value for the current node; iii) reconstructing the laser index of the current node as a sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained based on the determined amount of laser; A method comprising:

3. 3. The method of claim 2, wherein the laser index of the current node is constrained to be greater than or equal to 0 and less than or equal to the determined amount of lasers minus 1 to be constrained based on the determined amount of lasers.

4. 4. The method of claim 3, wherein the laser index of the current node is clipped to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 to be constrained based on the determined amount of laser.

5. 1. A device for encoding a point cloud, comprising: a memory configured to store at least a portion of the point cloud; one or more processors implemented in circuitry; wherein the one or more processors: determining an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; encoding a laser index for a current node of the point cloud; and, to encode the laser index, the one or more processors are configured to: i) obtaining a predicted laser index value of the current node; ii) determining a residual laser index value for the current node, wherein to determine the residual laser index value, the one or more processors are configured to constrain a sum of the residual laser index value and the predicted laser index value based on the determined quantity of laser; iii) encoding in a bitstream one or more syntax elements representing said residual laser index values; A device configured to:

6. To constrain the sum of the residual laser index value and the predicted laser index value based on the determined amount of laser, the one or more processors: constraining the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 based on the determined amount of laser; The device of claim 5 configured to:

7. To constrain the sum of the residual laser index value and the predicted laser index value, the one or more processors: clipping the sum of the residual laser index value and the predicted laser index value to be greater than or equal to 0 and less than or equal to the determined amount of laser minus 1 based on the determined amount of laser; The device of claim 6 configured to:

8. the one or more processors: encoding in the bitstream a syntax element representing the determined quantity of laser; The device of claim 5 , further configured to:

9. 6. The device of claim 5, wherein, to encode the laser index, the one or more processors are configured to encode the laser index in response to determining to encode the current node using an angular coding mode of predictive geometry coding.

10. The device of claim 5 , wherein the device is a vehicle or a head-mounted device (HMD).

11. 1. A device for decoding a point cloud, comprising: a memory configured to store at least a portion of the point cloud; one or more processors implemented in circuitry; wherein the one or more processors: determining an amount of laser used to capture light detection and ranging (LIDAR) data representing the point cloud; decoding a laser index for a current node of the point cloud; and, to decode the laser index, the one or more processors are configured to: i) obtaining a predicted laser index value of the current node; ii) decoding from the bitstream one or more syntax elements representing a residual laser index value for the current node; iii) reconstructing the laser index of the current node as a sum of the residual laser index value and the predicted laser index value, wherein the laser index of the current node is constrained based on the determined amount of laser; A device configured to:

12. 12. The device of claim 11, wherein the laser index of the current node is constrained to be greater than or equal to 0 and less than or equal to the determined amount of lasers minus 1 to be constrained based on the determined amount of lasers.

13. 13. The device of claim 12, wherein the laser index of the current node is clipped to be greater than or equal to 0 and less than or equal to the determined amount of lasers minus 1 so as to be constrained based on the determined amount of lasers.

14. the one or more processors: decoding, from the bitstream, a syntax element representing the determined quantity of laser; The device of claim 11 , further configured to:

15. 12. The device of claim 11, wherein, to decode the laser index, the one or more processors are configured to decode the laser index in response to determining that the current node is encoded using an angular coding mode of predictive geometry coding.

Images