QUALCOMM Incorporated
GLOBAL MOTION ESTIMATION USING ROAD AND GROUND OBJECT LABELS FOR GEOMETRY-BASED POINT CLOUD COMPRESSION

Abstract:

An example device for coding point cloud data includes a memory configured to store data representing points of a point cloud, and one or more processors implemented in circuitry and configured to: determine height values of points in a point cloud; classify the points into a set of ground points or a set of object points according to the height values; and code the ground points and the object points according to the classifications. The one or more processors may determine top and bottom thresholds and classify the ground and object points according to the top and bottom thresholds. The one or more processors may further code a data structure, such as a geometry parameter set (GPS), including data representing the top and bottom thresholds.