Granted Patent B2

US 12,725,314 · App. 18/127,872 · Granted Sep 1, 2026

Inventors: Noritaka Iguchi (Osaka, JP); Toshiyasu Sugio (Osaka, JP); Takahiro Nishi (Nara, JP)

Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA

G06T9/001

Abstract

Claims (48)

1 . A decoding method for decoding three-dimensional point cloud data, the decoding method comprising:

calculating a first position on a polar coordinate system by adding up a first predicted value and a first residual value included in a bitstream, the first residual value being a difference between a position of a first three-dimensional point on the polar coordinate system and the first predicted value;

calculating a second position by transforming the polar coordinate system of the first position into a Cartesian coordinate system;

decoding the position of the first three-dimensional point on the Cartesian coordinate system by adding up the second position and a second residual value included in the bitstream, the second residual being a difference between the position of the first three-dimensional point on the Cartesian coordinate system and the second position; and

decoding attribute information of the first three-dimensional point, using the first position on the polar coordinate system before the transforming the polar coordinate system of the first position into the Cartesian coordinate system.

2 . The decoding method according to claim 1 , further comprising:

decoding a position of a second three-dimensional point on the Cartesian coordinate system by calculating a third position by adding up a second predicted value and a third residual value included in the bitstream, the third residual value being a difference between the position of the second three-dimensional point on the Cartesian coordinate system and the second predicted value;

calculating a fourth position by transforming the Cartesian coordinate system of the third position into the polar coordinate system; and

decoding attribute information of the second three-dimensional point, using the fourth position.

3 . The decoding method according to claim 1 , further comprising:

normalizing the first position before the transforming, wherein

in the decoding of the attribute information of the first three-dimensional point, the normalized first position is used.

4 . The decoding method according to claim 1 , wherein

in the decoding of the position of the first three-dimensional point on the Cartesian coordinate system, the second residual included in the bitstream is inverse-quantized, and the position of the first three-dimensional point on the Cartesian coordinate system is decoded by adding up the second position and the inverse-quantized second residual.

5 . An encoding method for encoding three-dimensional point cloud data, the encoding method comprising:

calculating a first position by transforming a coordinate system of a position of a first three-dimensional point on a Cartesian coordinate system into a polar coordinate system;

generating a first residual that is a difference between the first position on the polar coordinate system and a first predicted value;

calculating a second position by transforming the polar coordinate system of the first position into the Cartesian coordinate system;

generating a second residual that is a difference between the second position and the position of the first three-dimensional point on the Cartesian coordinate system;

encoding attribute information of the first three-dimensional point, using the first position; and

generating a bitstream including the first residual, the second residual, and the encoded attribute information.

6 . The encoding method according to claim 5 , further comprising:

generating a third residual that is a difference between a third position of a second three-dimensional point on the Cartesian coordinate system and a second predicted value; and

encoding attribute information of the second three-dimensional point, using a fourth position of the second three-dimensional point on the polar coordinate system.

7 . The encoding method according to claim 5 , further comprising:

normalizing the first position; and

in the encoding of the attribute information of the first three-dimensional point, the normalized first position is used.

8 . The encoding method according to claim 5 , further comprising:

quantizing the second residual, wherein

the bitstream includes the quantized second residual.

9 . A decoding device for decoding three-dimensional point cloud data, the decoding device comprising:

a processor; and

memory, wherein

using the memory, the processor:

calculates a first position on a polar coordinate system by adding up a first predicted value and a first residual value included in a bitstream, the first residual value being a difference between a position of a first three-dimensional point on the polar coordinate system and the first predicted value;

calculates a second position by transforming the polar coordinate system of the first position into a Cartesian coordinate system;

decodes the position of the first three-dimensional point on the Cartesian coordinate system by adding up the second position and a second residual value included in the bitstream, the second residual being a difference between the position of the first three-dimensional point on the Cartesian coordinate system and the second position; and

decodes attribute information of the first three-dimensional point, using the first position on the polar coordinate system before the transforming the polar coordinate system of the first position into the Cartesian coordinate system.

10 . An encoding device for encoding three-dimensional point cloud data, the encoding method comprising:

a processor; and

memory, wherein

using the memory, the processor:

calculates a first position by transforming a coordinate system of a position of a first three-dimensional point on a Cartesian coordinate system into a polar coordinate system;

generates a first residual that is a difference between the first position on the polar coordinate system and a first predicted value;

calculates a second position by transforming the polar coordinate system of the first position into the Cartesian coordinate system;

generates a second residual that is a difference between the second position and the position of the first three-dimensional point on the Cartesian coordinate system;

encodes attribute information of the first three-dimensional point, using the first position; and

generating a bitstream including the first residual, the second residual, and the encoded attribute information.

Assignments (1)

Continuity (3)

References Cited (16)