Granted Patent B2

US 12,657,775 · App. 18/438,695 · Granted Jun 16, 2026

Inventor: Yugo Ishikawa (Tokyo, JP)

Assignee: Canon Kabushiki Kaisha

G06T9/00

Abstract

Claims (20)

1 . A coding device comprising:

at least one processor or circuit configured to function as:

(1) a target point data acquisition unit configured to (a) acquire target point attribute data indicating an attribute of a target point that is included in point cloud data and that is a target of processing of predicting a position, and (b) acquire target point position data indicating the position of the target point,

(2) a target point position data coding unit configured to generate a target point position bit stream indicating the position of the target point by coding the target point position data based on the target point attribute data,

(3) a processed point data acquisition unit configured to acquire (a) processed point position data indicating a position of a processed point, which is included in the point cloud data, on which processing of predicting a position has been completed, and (b) processed point attribute data indicating an attribute of the processed point,

(4) a target point position prediction unit configured to predict the position of the target point based on the processed point position data, and

(5) a predicted position correction unit configured to (a) correct a result of the target point position prediction unit predicting the position of the target point based on the target point attribute data and the processed point attribute data and (b) generate corrected position data,

wherein the target point position data coding unit generates a target point position bit stream by (a) calculating a difference between the position indicated by the target point position data and the position indicated by the corrected position data and (b) coding the difference, and

wherein the target point data acquisition unit acquires the target point attribute data indicating a clock time at which the target point has been generated.

2 . A decoding device comprising:

at least one processor or circuit configured to function as

(1) a target point bit stream acquisition unit configured to (a) acquire a target point attribute bit stream indicating an attribute of a target point that is included in a point cloud bit stream and that is a target of processing of predicting a position, and (b) acquire a target point position bit stream indicating a position of a target point that is included in a point cloud bit stream and that is a target of processing of predicting a position

(2) a target point position bit stream decoding unit configured to generate target point position data indicating the position of the target point by decoding the target point position bit stream indicating the position of the target point based on the target point attribute bit stream,

(3) a processed point bit stream acquisition unit configured to acquire (a) a processed point position bit stream indicating a position of a processed point, which is included in the point cloud bit stream, on which the processing of predicting the position has been completed before the target point, and (b) a processed point attribute bit stream indicating an attribute of the processed point,

(4) a difference decoding unit configured to decode a difference between the position indicated by the target point position bit stream and a position indicated by a corrected position bit stream generated by correcting the position of the target point, predicted based on the processed point position bit stream, based on the target point attribute bit stream and the processed point attribute bit stream,

(5) a bit stream decoding unit configured to (a) generate target point attribute data by decoding the target point attribute bit stream and (b) acquire processed point attribute data and processed point position data,

(6) a target point position prediction unit configured to predict the position of the target point indicated by the target point position bit stream based on the processed point position data, and

(7) a predicted position correction unit configured to (a) correct a result of the target point position prediction unit predicting the position of the target point indicated by the target point position bit stream based on the target point attribute data and the processed point attribute data and (b) generate corrected position data,

wherein the target point position bit stream decoding unit generates target point position data based on (a) the difference, (b) the result of the target point position prediction unit predicting the position of the target point indicated by the target point position bit stream, and (c) the corrected position data, and

wherein the target point bit stream acquisition unit acquires the target point attribute bit stream indicating a clock time at which the target point has been generated.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (13)