IP Library › Granted Patent US 12707057

Granted Patent B2

US 12707057 · App. 17/912,428 · Granted Aug 11, 2026

Point cloud data transmission device, point cloud data transmission method, point cloud data reception device, and point cloud data reception method based on attribute data based on subsampled point

Inventors: Hyunmook Oh (Seoul, KR); Sejin Oh (Seoul, KR)

Assignee: LG ELECTRONICS INC.

H04N19/132 H04N19/105 H04N19/129 H04N19/136 H04N19/88

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Quick Facts

Patent No.: US 12707057
App. No.: 17/912,428
Granted: Aug 11, 2026
Kind: B2

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Abstract

A point cloud data processing method according to embodiments is to encode and transmit point cloud data and may comprise the steps of: encoding a geometry indicating positions of one or more points of the point cloud data; encoding attributes of the one or more points; and transmitting a bitstream including the encoded point cloud data. By the point cloud data processing method according to embodiments, point cloud data can be received and decoded.

Claims (98)

1 . A method comprising:

encoding geometry data of point cloud data based on an octree; and

encoding attribute data for the point cloud data,

wherein the encoding the attribute data includes:

encoding attribute data for a first attribute for the point cloud data; and

encoding attribute data for a second attribute for the point cloud data,

wherein the encoding the attribute data for the first attribute includes:

generating subsampling method information in an attribute parameter set related to the first attribute in a bitstream;

based on a first value of subsampling method information, subsampling a point of the point cloud data based on a spatial block, wherein the attribute parameter set related to the first attribute further includes information related to a size of the spatial block; and

wherein the encoding the attribute data for the second attribute includes:

obtaining subsampling method information from an attribute parameter set related to the second attribute in the bitstream;

based on a second value of the subsampling method information, subsampling a point of the point cloud data based on an index of the point and a subsampling period, wherein the attribute parameter set related to the second attribute further includes information for the subsampling period.

2 . The method of claim 1 ,

based on the first value of the subsampling method information, the attribute parameter set related to the first attribute further includes information related to a subsampling direction, information related to a subsampling scan order, and information related to an index of the point.

3 . The method of claim 1 ,

based on the second value of the subsampling method information, the attribute parameter set related to the second attribute further includes information related to a subsampling offset.

4 . The method of claim 1 ,

wherein the encoding the attribute data further includes:

based on a third value of the subsampling method information, subsampling a point of the point cloud data based on a subsampling distance, wherein the bitstream further includes information related to the subsampling distance, or

based on a fourth value of the subsampling method information, subsampling a point of the point cloud data based on a Levels of Detail (LoD), wherein the bitstream further includes information related to a method of generating the LoD and information related to a level number including the point.

5 . The method of claim 1 ,

wherein the method further comprising:

subsampling the attribute data including a plurality of attribute channels based on the subsampled point before the step of encoding, and wherein the value of the subsampling method information is determined independently for each of the plurality of attribute channels.

6 . A device for encoding point cloud data, comprising:

a memory; and

at least one processor connected to the memory, wherein the at least one processor is configured to:

encode geometry data of point cloud data based on an octree; and

encode attribute data for the point cloud data,

wherein, to encode the attribute data, the at least one processor is further configured to:

encode attribute data for a first attribute for the point cloud data; and

encode attribute data for a second attribute for the point cloud data,

wherein, to encode the attribute data for the first attribute, the at least one processor is further configured to:

generate subsampling method information in an attribute parameter set related to the first attribute in a bitstream;

based on a first value of subsampling method information, subsample a point of the point cloud data based on a spatial block, wherein the attribute parameter set related to the first attribute further includes information related to a size of the spatial block; and

wherein, to encode the attribute data for the second attribute, the at least one processor is further configured to:

obtain subsampling method information from an attribute parameter set related to the second attribute in the bitstream;

based on a second value of the subsampling method information, subsample a point of the point cloud data based on an index of the point and a subsampling period, wherein the attribute parameter set related to the second further includes information for the subsampling period.

7 . The device of claim 6 , based on the first value of the subsampling method information, the attribute parameter set related to the first attribute further includes information related to a subsampling direction, information related to a subsampling scan order, and information related to an index of the point.

8 . The device of claim 6 ,

based on the second value of the subsampling method information, the attribute parameter set related to the second attribute further includes information related to a subsampling offset.

9 . The device of claim 6 ,

wherein, to encode the attribute data, the at least one processor is further configured to:

based on a third value of the subsampling method information, subsample a point of the point cloud data based on a subsampling distance, wherein the bitstream further includes information related to the subsampling distance, or

based on a fourth value of the subsampling method information, subsample a point of the point cloud data based on a Levels of Detail (LoD), wherein the bitstream further includes information related to a method of generating the LoD and information related to a level number including the point.

10 . The device of claim 6 ,

the at least one processor is further configured to:

subsample the attribute data including a plurality of attribute channels based on the subsampled point before encoding the attribute data, and wherein the value of the subsampling method information is determined independently for each of the plurality of attribute channels.

11 . A method comprising:

decoding geometry data of point cloud data from a bitstream based on an octree; and

decoding attribute data for the point cloud data,

wherein the decoding the attribute data includes:

decoding attribute data for a first attribute for the point cloud data; and

decoding attribute data for a second attribute for the point cloud data,

wherein the decoding the attribute data for the first attribute includes:

obtaining subsampling method information from an attribute parameter set related to the first attribute in the bitstream;

wherein the decoding the attribute data for the second attribute includes:

obtaining subsampling method information from an attribute parameter set related to the second attribute in the bitstream; and

12 . The method of claim 11 ,

based on the second value of the subsampling method information, the attribute parameter set related to the second attribute further includes information related to a subsampling offset.

13 . The method of claim 11 , wherein the decoding the attribute data further includes:

14 . The method of claim 11 ,

wherein the bitstream further includes information related to a reconstructing method, and information related to a number of one or more neighboring points of the point, and

wherein the attribute data to be reconstructed is reconstructed based on attribute data of the one or more neighbor points.

15 . The method of claim 14 ,

wherein the bitstream further includes information related to a reference attribute representing a type of an attribute channel, and

wherein the attribute data to be reconstructed is reconstructed further based on the attribute data of the reference attribute.

16 . A device for decoding point cloud data, including:

a memory; and

at least one processor connected to the memory, wherein the at least one processor is further configured to:

decode geometry data of the point cloud data based on an octree; and

decode attribute data for the point cloud data,

wherein, to decode the attribute data, the at least one processor is further configured to:

decode attribute data for a first attribute for the point cloud data; and

decode attribute data for a second attribute for the point cloud data,

wherein, to decode the attribute data for the first attribute, the at least one processor is further configured to:

obtain subsampling method information from an attribute parameter set related to the first attribute in a bitstream;

based on a first value of subsampling method information, subsample a point of the point cloud data based on a spatial block, wherein the attribute parameter set related to the first attribute includes information related to a size of the spatial block; and

wherein, to decode the attribute data for the second attribute, the at least one processor is further configured to:

obtain subsampling method information from an attribute parameter set related to the second attribute in the bitstream; and

based on a second value of the subsampling method information, subsample a point of the point cloud data based on an index of the point and a subsampling period, wherein the attribute parameter set related to the second attribute further includes information for the subsampling period.

17 . The device of claim 16 ,

based on the first value of subsampling method information, the attribute parameter set related to the first attribute further includes information related to a subsampling direction, information related to a subsampling scan order, and information related to an index of the point, and

based on the second value of the subsampling method information, the attribute parameter set related to the second attribute further includes information related to a subsampling offset.

18 . The device of claim 16 ,

wherein, to decode the attribute data, the at least one processor is further configured to:

19 . The device of claim 16 ,

wherein the bitstream further includes information related to a reconstructing method, and information related to a number of one or more neighboring points of the point, and

wherein the attribute data to be reconstructed is reconstructed based on attribute data of the one or more neighbor points.

20 . The device of claim 19 ,

wherein the bitstream further includes information related to a reference attribute representing a type of an attribute channel, and

wherein the attribute data to be reconstructed is reconstructed further based on the attribute data of the reference attribute.