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US-20260129196-A1 - POINT CLOUD DATA TRANSMISSION DEVICE, POINT CLOUD DATA TRANSMISSION METHOD, POINT CLOUD DATA RECEPTION DEVICE, AND POINT CLOUD DATA RECEPTION METHOD

US20260129196A1US 20260129196 A1US20260129196 A1US 20260129196A1US-20260129196-A1

Abstract

A point cloud data transmission method according to embodiments may comprise the steps of: encoding point cloud data; and transmitting a bitstream comprising the point cloud data. In addition, a point cloud data transmission device according to embodiments may comprise: an encoder which encodes point cloud data; and a transmitter which transmits a bitstream comprising the point cloud data.

Inventors

  • Hyejung HUR

Assignees

  • LG ELECTRONICS INC.

Dates

Publication Date
20260507
Application Date
20230321
Priority Date
20220321

Claims (15)

  1. 1 . A method of transmitting point cloud data, the method comprising: encoding point cloud data; and transmitting a bitstream containing the point cloud data.
  2. 2 . The method of claim 1 , wherein the encoding comprises: splitting road data from the point cloud data; and splitting the road data into a plurality of units; and grouping the road data belonging to a first unit of the units; and setting a motion search window for the grouped road data; and predicting a motion based on the motion search window, wherein the splitting of the road data is performed based on a threshold.
  3. 3 . The method of claim 2 , wherein the splitting the road data into the plurality of units comprises: splitting the road data based on at least one of an identifier, an angle, or a distance of a sensor, wherein the distance is a distance from a center of the point cloud data.
  4. 4 . The method of claim 3 , wherein the grouping of the road data belonging to the first unit comprises: grouping the road data based on at least one of the identifier, angle, or distance of the sensor, wherein the first unit is a region at a distance greater than or equal to a predetermined distance from the center of the point cloud data.
  5. 5 . The method of claim 4 , wherein the setting of the motion search window is performed based on at least one of the identifier, an azimuth of the sensor, or the distance.
  6. 6 . The method of claim 5 , wherein the predicting of the motion comprises: calculating a rate-distortion optimization (RDO) cost based on whether the motion is applied.
  7. 7 . The method of claim 6 , wherein the bitstream contains information indicating a method of splitting the road data into the plurality of units.
  8. 8 . A device for transmitting point cloud data, comprising: an encoder configured to encode point cloud data; and a transmitter configured to transmit the point cloud data.
  9. 9 . A method of receiving point cloud data, the method comprising: receiving a bitstream containing point cloud data; and decoding the point cloud data.
  10. 10 . The method of claim 9 , wherein the decoding comprises, splitting road data from the point cloud data; and splitting the road data into a plurality of units; and grouping the road data belonging to a first unit of the units; and applying a motion to the grouped road data.
  11. 11 . The method of claim 10 , wherein the splitting the road data into the plurality of units comprises: splitting the road data based on one of an identifier, an angle, or a distance of a sensor, wherein the distance is a distance from a center of the point cloud data.
  12. 12 . The method of claim 11 , wherein the grouping of the road data belonging to the first unit comprises: grouping the road data based on at least one of the identifier, angle, or distance of the sensor, wherein the first unit is a region at a distance greater than or equal to a predetermined distance from the center of the point cloud data.
  13. 13 . The method of claim 12 , wherein the bitstream contains motion information about the first unit, wherein the applying the motion comprises: applying the motion information to road data corresponding to the first unit.
  14. 14 . The method of claim 13 , wherein the bitstream further contains information indicating a method of splitting the road data into the plurality of units.
  15. 15 . A device for receiving point cloud data, comprising: a receiver configured to receive point cloud data; and a decoder configured to decode the point cloud data.

Description

TECHNICAL FIELD Embodiments relate to a method and device for processing point cloud content. BACKGROUND ART Point cloud content is content represented by a point cloud, which is a set of points belonging to a coordinate system representing a three-dimensional space. The point cloud content may express media configured in three dimensions, and is used to provide various services such as virtual reality (VR), augmented reality (AR), mixed reality (MR), and self-driving services. However, tens of thousands to hundreds of thousands of point data are required to represent point cloud content. Therefore, there is a need for a method for efficiently processing a large amount of point data. DISCLOSURE Technical Problem Embodiments provide a device and method for efficiently processing point cloud data. Embodiments provide a point cloud data processing method and device for addressing latency and encoding/decoding complexity. The technical scope of the embodiments is not limited to the aforementioned technical objects, and may be extended to other technical objects that may be inferred by those skilled in the art based on the entire contents disclosed herein. Technical Solution In one aspect of the present disclosure, provided herein is a point cloud data transmission device, a point cloud data transmission method, a point cloud data reception device, and a point cloud data reception method for efficiently transmitting and receiving a point cloud. In another aspect of the present disclosure, provided herein is a point cloud data transmission device, a point cloud data transmission method, a point cloud data reception device, and a point cloud data reception method for addressing latency and encoding/decoding complexity. Embodiments are not limited to the above-described objects, and the scope of the embodiments may be extended to other objects that can be inferred by those skilled in the art based on the entire contents of the present disclosure. Advantageous Effects Devices and methods according to embodiments may process point cloud data with high efficiency. The devices and methods according to the embodiments may provide a high-quality point cloud service. The devices and methods according to the embodiments may provide point cloud content for providing general-purpose services such as a VR service and a self-driving service. DESCRIPTION OF DRAWINGS The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the principle of the disclosure. For a better understanding of various embodiments described below, reference should be made to the description of the following embodiments in connection with the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts. FIG. 1 shows an exemplary point cloud content providing system according to embodiments; FIG. 2 is a block diagram illustrating a point cloud content providing operation according to embodiments; FIG. 3 illustrates an exemplary point cloud encoder according to embodiments; FIG. 4 shows an example of an octree and occupancy code according to embodiments; FIG. 5 illustrates an example of point configuration in each LOD according to embodiments; FIG. 6 illustrates an example of point configuration in each LOD according to embodiments; FIG. 7 illustrates a point cloud decoder according to embodiments; FIG. 8 illustrates a transmission device according to embodiments; FIG. 9 illustrates a reception device according to embodiments; FIG. 10 illustrates an exemplary structure operable in connection with point cloud data transmission/reception methods/devices according to embodiments; FIG. 11 illustrates point cloud data captured by LiDAR; FIG. 12 illustrates point cloud data about a road according to embodiments; FIG. 13 illustrates point cloud data about a road according to embodiments; FIG. 14 illustrates point cloud data about a road according to embodiments; FIG. 15 illustrates point cloud data about a road captured by LiDAR; FIG. 16 illustrates grouping of point cloud data having similar radii; FIG. 17 illustrates an example of setting a window for motion search in point cloud data according to embodiments; FIG. 18 illustrates an example of setting a window for motion search in point cloud data according to embodiments; FIG. 19 illustrates an example of setting a window for motion search in point cloud data according to embodiments; FIG. 20 illustrates a point cloud data transmission device/method according to embodiments; FIG. 21 illustrates a point cloud data reception device/method according to embodiments; FIG. 22 illustrates a structure of a bitstream according to embodiments; FIG. 23 illustrates a syntax of a geometry parameter set according to embodiments; FIG. 24 illustrates a syntax of a tile