公开(公告)号：US20220108494A1

公开(公告)日：2022-04-07

申请号：US17644178

申请日：2021-12-14

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Pu LI ,  Xiaozhen ZHENG

IPC: G06T9/40 ,  G06T17/00

Abstract: A processing method includes encoding or decoding an N-th layer of a multi-tree using a breadth-first mode. The multi-tree is used for position division on a point cloud. The method further includes, in response to a number or a distribution of all point cloud points in a target node of the N-th layer meeting a preset condition, encoding or decoding the point cloud points in the target node using a depth-first mode to obtain a code stream of the target node. The code stream of the target node includes an identifier and indexes of nodes where the point cloud points of the target node are located at various layers of the multi-tree. The identifier indicates to switch from the breadth-first mode to the depth-first mode to encode or decode sub-nodes of the target node. N is an integer greater than or equal to 1.

公开(公告)号：US20220108493A1

公开(公告)日：2022-04-07

申请号：US17644031

申请日：2021-12-13

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Pu LI ,  Xiaozhen ZHENG

IPC: G06T9/40 ,  G06T9/00

Abstract: An encoding method includes encoding first M layers of a multi-tree using a breadth-first mode, and switching to a depth-first mode to encode at least one node in the M-th layer of the multi-tree. The multi-tree is obtained by dividing a plurality of three-dimensional data points using a multi-tree division method. M is an integer larger than or equal to 2. Sub-nodes of each of the at least one node are encoded using the breadth-first mode, and the sub-nodes of one of the at least one node include all sub-nodes obtained by performing at least one multi-tree division on the one of the at least one node until a leaf sub-node is obtained.

公开(公告)号：US20210343047A1

公开(公告)日：2021-11-04

申请号：US17376893

申请日：2021-07-15

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Pu LI ,  Fu ZHANG ,  Xiaozhen ZHENG

IPC: G06T9/00 ,  G06T9/40

Abstract: A three-dimensional data point encoding method includes determining maximum values of range values of an initial block of target three-dimensional data points in a radial distance direction, a zenith angle direction, and an azimuth angle direction according to position coordinates of the target three-dimensional data points in a spherical coordinate system, performing partitioning processes on the initial block, and encoding the target three-dimensional data points according to partitioning results of the initial block. Performing the partitioning processes on the initial block includes performing at least one octree partitioning process on the initial block to obtain a plurality of first-type sub-blocks and performing at least one of a quadtree partitioning process or a binary tree partitioning process on at least one of the plurality of first-type sub-blocks.

公开(公告)号：US20210335019A1

公开(公告)日：2021-10-28

申请号：US17371819

申请日：2021-07-09

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Pu LI ,  Xiaozhen ZHENG ,  Fu ZHANG

IPC: G06T9/40

Abstract: The present disclosure provides a three-dimensional (3D) data point set processing method, the 3D data point set being divided by a multi-tree method. The 3D) data point set processing method includes encoding or decoding a Nth layer of the multi-tree in by using a breadth-first approach; and encoding or decoding a first node by using a depth-first approach when all 3D data points in the first node of the Nth layer fall into a same node of a Mth layer under the first node, wherein N and M are integers greater than or equal to one.

公开(公告)号：US20220130074A1

公开(公告)日：2022-04-28

申请号：US17571238

申请日：2022-01-07

Applicant: SZ DJI TECHNOLOGY CO., LTD. ,  ZHEJIANG UNIVERSITY

Inventor： Xiaozhen ZHENG ,  Pu LI ,  Jiafeng CHEN ,  Wenyi WANG ,  Lu YU

IPC: G06T9/00

Abstract: A data encoding method includes determining a value of a syntax element of point cloud data of a point cloud. The point cloud data includes attribute values of the point cloud and the syntax element indicates a search range of the attribute values during prediction encoding. The method further includes performing prediction processing on the attribute values according to the search range to obtain residuals of the attribute values, and encoding the residuals and a difference between the value of the syntax element and a constant value to generate code stream data. The constant value is a positive number.

公开(公告)号：US20220005229A1

公开(公告)日：2022-01-06

申请号：US17479812

申请日：2021-09-20

Applicant: SZ DJI TECHNOLOGY CO., LTD. ,  ZHEJIANG UNIVERSITY

Inventor： Pu LI ,  Xiaozhen ZHENG ,  Jiafeng CHEN ,  Wenyi WANG ,  Lu YU

IPC: G06T9/00

Abstract: A point cloud attribute encoding method includes performing binarization on an attribute value in point cloud data to obtain a binary attribute value, and performing arithmetic encoding on bits in the binary attribute value using at least one probability model. A bit depth of the binary attribute value is larger than or equal to 1.

公开(公告)号：US20210335016A1

公开(公告)日：2021-10-28

申请号：US17372042

申请日：2021-07-09

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Pu LI ,  Xiaozhen ZHENG

IPC: G06T9/00 ,  G06T9/40

Abstract: The present disclosure provides a three-dimensional (3D) data point set encoding method. The method includes performing position coordinate encoding on position coordinates of one or more 3D data points in the 3D data point set to obtain a first binary bitstream; performing binary encoding on attributes of the one or more 3D data points based on a position coordinates sequence after encoding the position coordinates of the one or more 3D data points to obtain a second binary bitstream; and performing entropy encoding on the first binary bitstream and the second binary bitstream respectively.

公开(公告)号：US20210335015A1

公开(公告)日：2021-10-28

申请号：US17371999

申请日：2021-07-09

Applicant: SZ DJI TECHNOLOGY CO., LTD.

Inventor： Pu LI ,  Fu ZHANG ,  Xiaozhen ZHENG

IPC: G06T9/00 ,  G06T9/40 ,  G06T7/62

Abstract: A three-dimensional data point encoding method, decoding method, and encoding device. The encoding method includes: determining maximum values of side lengths of a cuboid of three-dimensional data points to be encoded in three directions according to position coordinates of the three-dimensional data points to be encoded; performing at least one octree partition process on the cuboid, to obtain a plurality of first-type sub-blocks; performing at least one quadtree partition process or binary tree partition process on at least one first-type sub-block of the plurality of first-type sub-blocks; and encoding the three-dimensional data points to be encoded according to partition results of the cuboid.

公开(公告)号：US20220222861A1

公开(公告)日：2022-07-14

申请号：US17707935

申请日：2022-03-29

Applicant: SZ DJI TECHNOLOGY CO., LTD. ,  ZHEJIANG UNIVERSITY

Inventor： Lu YU ,  Jiafeng CHEN ,  Wenyi WANG ,  Pu LI ,  Xiaozhen ZHENG

IPC: G06T9/00 ,  H03M7/30

Abstract: A data encoding method includes obtaining an attribute residual of a current point cloud point, binarizing the attribute residual to obtain a binary code of the current point cloud point that includes a first binary code indicating a first flag bit and a second binary code indicating a second flag bit, selecting a first context model from a context model list according to a first condition, selecting a second context model from the context model list according to a second condition, encoding the first binary code using the first context model, and encoding the second binary code using the second context model. The first condition and the second condition are different for the first context model and the second context model corresponding to a same index in the context model list.