Granted Patent B2

US 12,283,074 · App. 18/627,002 · Granted Apr 22, 2025

Inventors: Geert Van der Auwera (San Diego, CA); Bappaditya Ray (San Diego, CA); Adarsh Krishnan Ramasubramonian (Irvine, CA); Marta Karczewicz (San Diego, CA)

Assignee: QUALCOMM INCORPORATED

G06T9/001G01S17/89G06T17/20

Abstract

Claims (52)

1. A device for encoding point cloud data, the device comprising:

a memory to store the point cloud data; and

one or more processors coupled to the memory and implemented in circuitry, the one or more processors configured to:

determine that occupied child nodes of a node form a single plane perpendicular to a first axis of a coordinate system, wherein the first axis is a horizontal axis and the occupied child nodes contain points represented by the point cloud data;

determine, from a plurality of contexts consisting of 8 contexts, a context for a horizontal plane position of the node, wherein the horizontal plane position indicates a position of the plane perpendicular to the first axis;

perform arithmetic encoding on a syntax element indicating the horizontal plane position using the determined context; and

based on the determination that the occupied child nodes of the node form the plane perpendicular to the first axis, not encoding of child nodes that are not in the plane perpendicular to the first axis.

2. The device of claim 1 , wherein the node is a first node, the determined context is a first context, the plurality of contexts is a first plurality of contexts, the plane perpendicular to the first axis is a first single plane, an angular planar coding mode and an azimuthal planar coding mode are disabled for a second node, and the one or more processors are further configured to:

determine a context index that is equal to an axis index of the first axis regardless of occupancy of a neighbor node or Manhattan distance between a position of the second node and a position of a most-recently node with a same axis position value for the first axis and regardless of whether tracking of closest nodes using a buffer is used in a process of coding a planar mode flag and plane position, wherein the axis position value for the first axis indicates 14 least significant bits of a first-axis coordinate of the second node; and

perform arithmetic encoding on a planar flag for the first axis using a context indicated by the context index, wherein the planar flag indicates that child nodes of the second node form a second single plane perpendicular to the first axis of the coordinate system, and the context indicated by the context index is in a second plurality of contexts different from the first plurality of contexts.

3. The device of claim 1 , wherein the one or more processors are further configured to generate the point cloud data.

4. The device of claim 3 , wherein the one or more processors are configured to, as part of generating the point cloud data, generate the point cloud data based on signals from a LIDAR apparatus.

5. The device of claim 1 , wherein the device is one of a mobile phone, tablet computer, a vehicle, or an extended reality device.

6. The device of claim 1 , wherein the device comprises an interface configured to transmit encoded point cloud data.

7. A device for decoding point cloud data, the device comprising:

a memory to store the point cloud data; and

one or more processors coupled to the memory and implemented in circuitry, the one or more processors configured to:

determine that occupied child nodes of a node form a single plane perpendicular to a first axis of a coordinate system, wherein the first axis is a horizontal axis and the occupied child nodes contain points represented by the point cloud data;

determine, from a plurality of contexts consisting of 8 contexts, a context for a horizontal plane position of the node, wherein the horizontal plane position indicates a position of the single plane that is perpendicular to the first axis of the coordinate system; and

perform arithmetic decoding on a syntax element indicating the horizontal plane position using the determined context; and

based on the determination that the occupied child nodes of the node form the plane perpendicular to the first axis, not decoding of child nodes that are not in the plane perpendicular.

8. The device of claim 7 , wherein the node is a first node, the determined context is a first context, the plurality of contexts is a first plurality of contexts, the plane perpendicular to the first axis is a first single plane, an angular planar coding mode and an azimuthal planar coding mode are disabled for a second node, and the one or more processors are further configured to:

determine a context index that is equal to an axis index of the first axis regardless of occupancy of a neighbor node or Manhattan distance between a position of the second node and a position of a most-recently node with a same axis position value for the first axis and regardless of whether tracking of closest nodes using a buffer is used in a process of coding a planar mode flag and plane position, the axis position value for the first axis indicates 14 least significant bits of a first-axis coordinate of the second node; and

perform arithmetic decoding on a planar flag for the first axis using a context indicated by the context index, wherein the planar flag indicates that child nodes of the second node form a second single plane perpendicular to the first axis of the coordinate system, and the context indicated by the context index is in a second plurality of contexts different from the first plurality of contexts.

9. The device of claim 7 , wherein the one or more processors are further configured to:

reconstruct the point cloud data; and

perform one or more of:

generate a map of an interior of a building based on the reconstructed point cloud data,

perform an autonomous navigation operation based on the reconstructed point cloud data, or

generate computer graphics based on the reconstructed point cloud data.

10. The device of claim 7 , wherein the one or more processors are configured to:

reconstruct the point cloud data;

determine a position of a virtual object based on the reconstructed point cloud data; and

generate an extended reality (XR) visualization in which the virtual object is at the determined position.

11. The device of claim 7 , wherein the device is one of a mobile phone, a tablet computer, a vehicle, or an extended reality device.

12. The device of claim 7 , further comprising a display to present imagery based on the point cloud data.

13. A method for encoding point cloud data, the method comprising:

determining that occupied child nodes of a node form a single plane perpendicular to a first axis of a coordinate system, wherein the first axis is a horizontal axis and the occupied child nodes contain points represented by the point cloud data;

determining, from a plurality of contexts consisting of 8 contexts, a context for a horizontal plane position of the node, wherein the horizontal plane position indicates a position of the plane perpendicular to the first axis;

performing arithmetic encoding on a syntax element indicating the horizontal plane position using the determined context; and

based on the determination that the occupied child nodes of the node form the plane perpendicular to the first axis, omitting not encoding of child nodes of the node that are not in the plane perpendicular to the first axis.

14. The method of claim 13 , wherein the node is a first node, the determined context is a first context, the plurality of contexts is a first plurality of contexts, the plane perpendicular to the first axis is a first single plane, an angular planar coding mode and an azimuthal planar coding mode are disabled for a second node, and the method further comprises:

determining a context index that is equal to an axis index of the first axis regardless of occupancy of a neighbor node or Manhattan distance between a position of the second node and a position of a most-recently node with a same axis position value for the first axis and regardless of whether tracking of closest nodes using a buffer is used in a process of coding a planar mode flag and plane position, wherein the axis position value for the first axis indicates 14 least significant bits of a first-axis coordinate of the second node; and

performing arithmetic encoding on a planar flag for the first axis using a context indicated by the context index, wherein the planar flag indicates that child nodes of the second node form a second single plane perpendicular to the first axis of the coordinate system, and the context indicated by the context index is in a second plurality of contexts different from the first plurality of contexts.

15. A method for decoding point cloud data, the method comprising:

determining that occupied child nodes of a node form a single plane perpendicular to a first axis of a coordinate system, wherein the first axis is a horizontal axis and the occupied child nodes contain points represented by the point cloud data;

determining, from a plurality of contexts consisting of 8 contexts, a context for a horizontal plane position of the node, wherein the horizontal plane position indicates a position of the single plane that is perpendicular to the first axis of the coordinate system;

performing arithmetic decoding on a syntax element indicating the horizontal plane position using the determined context; and

based on the determination that the occupied child nodes of the node form the plane perpendicular to the first axis, not decoding of child nodes of the node that are not in the plane perpendicular to the first axis.

16. The method of claim 15 , wherein the node is a first node, the determined context is a first context, the plurality of contexts is a first plurality of contexts, the plane perpendicular to the first axis is a first single plane, an angular planar coding mode and an azimuthal planar coding mode are disabled for a second node, and the method further comprises:

determining a context index that is equal to an axis index of the first axis regardless of occupancy of a neighbor node or Manhattan distance between a position of the second node and a position of a most-recently node with a same axis position value for the first axis and regardless of whether tracking of closest nodes using a buffer is used in a process of coding a planar mode flag and plane position, the axis position value for the first axis indicates 14 least significant bits of a first-axis coordinate of the second node; and

performing arithmetic decoding on a planar flag for the first axis using a context indicated by the context index, wherein the planar flag indicates that child nodes of the second node form a second single plane perpendicular to the first axis of the coordinate system, and the context indicated by the context index is in a second plurality of contexts different from the first plurality of contexts.

Assignments (1)

Continuity (4)

References Cited (27)