Proceedings ArticleDOI
Real-time compression of point cloud streams
Julius Kammerl,Nico Blodow,Radu Bogdan Rusu,Suat Gedikli,Michael Beetz,Eckehard Steinbach +5 more
- pp 778-785
TLDR
This work presents a novel lossy compression approach for point cloud streams which exploits spatial and temporal redundancy within the point data and presents a technique for comparing the octree data structures of consecutive point clouds.Abstract:
We present a novel lossy compression approach for point cloud streams which exploits spatial and temporal redundancy within the point data. Our proposed compression framework can handle general point cloud streams of arbitrary and varying size, point order and point density. Furthermore, it allows for controlling coding complexity and coding precision. To compress the point clouds, we perform a spatial decomposition based on octree data structures. Additionally, we present a technique for comparing the octree data structures of consecutive point clouds. By encoding their structural differences, we can successively extend the point clouds at the decoder. In this way, we are able to detect and remove temporal redundancy from the point cloud data stream. Our experimental results show a strong compression performance of a ratio of 14 at 1 mm coordinate precision and up to 40 at a coordinate precision of 9 mm.read more
Citations
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Journal ArticleDOI
OctoMap: an efficient probabilistic 3D mapping framework based on octrees
TL;DR: An open-source framework to generate volumetric 3D environment models based on octrees and uses probabilistic occupancy estimation that represents not only occupied space, but also free and unknown areas and an octree map compression method that keeps the 3D models compact.
An Efficient Probabilistic 3D Mapping Framework Based on Octrees
TL;DR: In this paper, an open-source framework is presented to generate volumetric 3D environ- ment models based on octrees and uses probabilistic occupancy estimation, which explicitly repre- sents not only occupied space, but also free and unknown areas.
Journal ArticleDOI
Emerging MPEG Standards for Point Cloud Compression
Sebastian Schwarz,Marius Preda,Vittorio Baroncini,Madhukar Budagavi,Pablo Cesar,Philip A. Chou,Robert A. Cohen,Maja Krivokuca,Sebastien Lasserre,Zhu Li,Joan Llach,Mammou Khaled,Rufael Mekuria,Ohji Nakagami,Ernestasia Siahaan,Ali Tabatabai,Alexis Michael Tourapis,Vladyslav Zakharchenko +17 more
TL;DR: The main developments and technical aspects of this ongoing standardization effort for compactly representing 3D point clouds, which are the 3D equivalent of the very well-known 2D pixels are introduced.
Journal ArticleDOI
Design, Implementation, and Evaluation of a Point Cloud Codec for Tele-Immersive Video
TL;DR: A subjective study in a state-of-the-art mixed reality system shows that introduced prediction distortions are negligible compared with the original reconstructed point clouds and shows the benefit of reconstructed point cloud video as a representation in the 3D virtual world.
Journal ArticleDOI
Compression of 3D Point Clouds Using a Region-Adaptive Hierarchical Transform
TL;DR: In this paper, a hierarchical sub-band transform was proposed for intra-frame color encoding of point clouds for real-time 3D video. But the results show that the proposed solution performs comparably with the current state-of-the-art, in many occasions outperforming it, while being much more computationally efficient.
References
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Proceedings ArticleDOI
3D is here: Point Cloud Library (PCL)
Radu Bogdan Rusu,Steve Cousins +1 more
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Proceedings ArticleDOI
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Ruwen Schnabel,Reinhard Klein +1 more
TL;DR: A progressive compression method for point sampled models that is specifically apt at dealing with densely sampled surface geometry and it is demonstrated that additional point attributes, such as color, can be well integrated and efficiently encoded in this framework.
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Proceedings ArticleDOI
Encumbrance-free telepresence system with real-time 3D capture and display using commodity depth cameras
Andrew Maimone,Henry Fuchs +1 more
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