Abstract: A point cloud is represented by a plurality of cuboid volumes, and an occupied cuboid volume is modelled by one or more triangles. At least one triangle has at least one respective vertex on an edge of the occupied cuboid volume. The geometrical information including presence flags signaling a presence of a vertex. A method of encoding geometrical information of a geometry of a point cloud into a bitstream is includes for a current edge: constructing contextual information based on one or more or all of the following: occupancy information of neighboring cuboid volumes that abut the current edge, and vertex positional information of already-coded neighboring edges of the current edge, the neighboring edges being edges having a point in common with the current edge, using the contextual information to select a coding probability of an entropy coder, and encoding, by the entropy coder and using the selected coding probability, a presence flag for the current edge.

Abstract: A method of encoding, into a bitstream, positions of points of a point cloud encompassed in a cuboid volume is provided, the positions being represented in a three-dimensional coordinate system, at least two vertices being located on edges of the cuboid volume. The method includes: encoding vertex information defining the at least two vertices into the bitstream; determining a point in the cuboid volume from the at least two vertices; and constructing at least one triangle from the at least two vertices and the determined point; positions of rendered points obtained by voxelization of the at least one triangle representing the positions of the points of the point cloud encompassed in the cuboid volume.

Abstract: A method of encoding, into a bitstream, occupancy information of a current node of a tree representing point cloud geometry data is provided, the occupancy information associated with the current node including an occupancy bit per child node of the current node to indicate whether the child node is occupied when at least one point of the point cloud is associated with the child node or unoccupied when at least one point of the point cloud is not associated with the child node, wherein encoding a first occupancy bit, associated with a first child node of the current node includes: determining a series of at least one bit including at least one bit representative of occupancy information of a set of neighboring nodes relative to the first child node; and entropy encoding, into the bitstream, the first occupancy bit based on the series of at least one bit.

Abstract: A method of encoding, into a bitstream, positions of points of a point cloud encompassed in a cuboid volume is provided, the positions being represented in a three-dimensional coordinate system, at least three vertices being located on edges of the cuboid volume. The method includes: obtaining quantized positions of the at least three vertices by quantizing the positions of the at least three vertices based on a vertex quantization step that depends on at least one quantization parameter; encoding, into the bitstream, vertex information defining the quantized positions of the at least three vertices; and encoding the at least one quantization parameter into the bitstream.

Abstract: A method of encoding, into a bitstream, point cloud geometry data represented by ordered coarse points occupying some discrete positions of a set of discrete positions of a two-dimensional space, includes obtaining at least one binary data (fj) representative of an order index difference representative of a difference between order indices of two consecutive occupied coarse points and encoding each of the at least one binary data (fj) by: obtaining coordinates (sj,?j) of a current coarse point (Pj) within the two-dimensional space; obtaining a sensing number (Nsens(sj,?j)) from the current coarse point (Pj), the sensing number (Nsens(sj,?j)) being representative of an average number of consecutive sensing needed by a sensor (?j) associated with the current coarse point (Pj) to sense another coarse point; and entropy encoding, into the bitstream, the binary data (fj) based on the sensing number (Nsens(sj,?j)).

Abstract: A method of encoding, into a bitstream, point cloud geometry data represented by ordered coarse points occupying some discrete positions of a set of discrete positions of a two-dimensional space, includes: encoding, into the bitstream, a data (Snext) indicating if an occupied coarse point (Pnext) associated with a point of the point cloud is a late occupied coarse point; and if the data (Snext) indicates that the occupied coarse point is a late occupied coarse point (Pnext), obtaining a late point order index difference (?olate) between an order index of the late occupied coarse point (Pnext), and an order index of a second reference coarse point (P?ref); and encoding, into the bitstream, an amplitude of the late point order index difference.

Abstract: A method of encoding a slice of point cloud data into a bitstream, includes: obtaining a previous coding state represented by at least one coding parameter value, apart from data representative of a content of an entry of an entropy context table, used to previously encoding point cloud data; initializing a current coding state from the previous coding state, the current coding state being represented by at least one current coding parameter; encoding a slice of point cloud data into a bitstream based on the current coding state; updating the current coding state during the encoding of the slice of point cloud data according to encoded point cloud data obtained by encoding the slice of point cloud data; and preserving the current coding state during and/or at the end of the encoding of the slice of point cloud data.

Abstract: Coding of the last coded coefficient position is performed by basing the coding of the y coordinate of the position of the last coded coefficient on knowledge of the size of the partial transform used to generate a block of coefficients from a block of video pixels. This enables a context adaptive coding of the last coded coefficient parameter to be performed much more efficiently.

Abstract: A method of encoding, into a bitstream, point cloud geometry data sensed by at least one sensor associated with a sensor index is provided, the point cloud geometry data being represented by ordered coarse points occupying some discrete positions of a set of discrete positions of a two-dimensional space, each coarse point being located within the two-dimensional space by an order index defined from a sensor index associated with a sensor that is able to sense a point of the point cloud represented by the coarse point and a sample index associated with a sensing time instant at which the point of the point cloud is sensed. The method includes: obtaining sensing coverage data (SCD) representative of at least one range of order indexes associated with sensed data; and encoding the sensing coverage data (SCD) into the bitstream.

Abstract: A method of encoding a series of data into a bitstream, includes: obtaining a current neighborhood configuration relative to a current data of the series of data, the set of candidate neighborhood configurations being obtained from previously encoded data of the series of data; obtaining a reduced current neighborhood configuration by applying a dynamic reduction function to the current neighborhood configuration, an image of the dynamic reduction function being a set of reduced neighborhood configurations and each reduced neighborhood configuration being associated with a leaf node of a tree, the reduced current neighborhood configuration being obtained by progressing from a root node of the tree until a leaf node based on values of constitutive elements of the current neighborhood configuration; and encoding the current data by using an entropy coder of a set of entropy coders, the entropy coder being selected based on the reduced current neighborhood configuration.

Abstract: Methods and apparatus of encoding/decoding point cloud geometry may use data sensed by at least one sensor associated with a sensor index. The point cloud geometry data is represented by ordered coarse points occupying some discrete positions of a set of discrete positions of a two-dimensional space, each occupied coarse point is associated with a radius based on a distance of the point of the point cloud from a referential. The encoding/decoding method comprises encoding/decoding a data representative of a predicting radius, and encoding, into the bitstream, a residual radius between a radius associated with an occupied coarse point and the predicting radius.

Abstract: Methods and apparatuses herein encode/decode point cloud geometry data represented by geometrical elements occupying some discrete positions of a set of discrete positions of a multi-dimensional space. An index range reduction function is used to map each index of a first set of neighborhood occupancy configuration indices to an index of a second set of neighborhood occupancy configuration indices, the range of the second set of neighborhood occupancy configuration indices being lower than the range of the first set of neighborhood occupancy configuration indices. At least one binary data (fj) representative of an occupancy of a current geometrical element is entropy encoded/decoded based on a mapped index (I2).

Abstract: A method and apparatus is capable of encoding and decoding a point cloud sensed by any type of sensor following a sensing path. The method obtains coarse representations of sensed points and encodes controls points of a two-dimensional curve representing the sensing path and the coarse representations. The control points are decoded, the two-dimensional curve representing the sensing path is obtained by interpolation between the control points and coarse representations of points are decoded. Points of the point cloud are then reconstructed from the decoded two-dimensional curve representing the sensing path and the decoded coarse representations.

Abstract: A method of encoding, into a bitstream, point cloud geometry data sensed by at least one sensor associated with a sensor index, includes: obtaining a list of candidate radiuses (L={r2}) for a first occupied coarse point (P1) having a first sensor index (?1), a first sample index (s1) and being associated with a first radius (r1); selecting, for the first occupied coarse point (P1), a selected predicting radius (rpred) from the list of candidate radiuses (L={r2}); encoding, in the bitstream, a data (Ipred) representative of the selected predicting radius (rpred) in the list of candidate radiuses (L={r2}); and predictively encoding, in the bitstream, a residual radius (rres) between the first radius (r1) and the selected predicting radius (rpred).

Abstract: Methods and apparatuses herein encode/decode point cloud geometry data represented by ordered coarse points occupying some discrete positions of a two-dimensional space. At least one first binary data representative of an order index difference representative of a difference between order indices of two consecutive occupied coarse points, is obtained and each of said at least one first binary data is entropy encoded based on a series of at least one second binary data and a coordinate difference between a first coordinate of a current coarse point and a first coordinate of a preceding occupied coarse point in the two-dimensional space. Said current and preceding occupied coarse points having a same second coordinate in the two-dimensional space and, said series is representative of an occupancy data of at least one neighboring coarse point belonging to a causal neighborhood of the current coarse point.

Abstract: A method and apparatus for encoding/decoding a point cloud may use any type of sensor following a sensing path. The method obtains coarse representations of sensed points and encodes the sensing path and the coarse representations. The sensing path and coarse representations of points are decoded, and points of the point cloud are reconstructed from the decoded sensing path and the decoded coarse representations.

Abstract: The method of encoding/decoding a point cloud sensed by any type of sensor following a sensing path obtains coarse representations of sensed points and encodes the sensing path and the coarse representations. The sensing path and coarse representations of points are decoded, and points of the point cloud are reconstructed from the decoded sensing path and the decoded coarse representations. The coarse representations of sensed points of the point cloud are coarse points defined in a two-dimensional angular coordinate space, and a coarse point is obtained by shifting a sensing point in the two-dimensional angular coordinate space with shifting values that depend on the sensor index associated with the sensor that sensed the point P of the point cloud.

Abstract: Methods and apparatus of encoding/decoding a point cloud into a bitstream of encoded point cloud data captured by a spinning sensors head. Each point of the point cloud is associated with spherical coordinates and attributes. The methods comprises signaling, in the bitstream, a scaling offset information representing scaling offsets, and for each current point of the point cloud: encoding/decoding the spherical coordinates of the current point; obtaining decoded spherical coordinates of the current point from the encoded spherical coordinates; scaling the decoded spherical coordinates of the current point by using the scaling offsets; and encoding/decoding at least one attribute of the current point based on the scaled decoded spherical coordinates.

Abstract: A method of encoding, into a bitstream, point cloud geometry data sensed by at least one sensor associated with a sensor index, includes: selecting, for a first occupied coarse point having a first sensor index and being associated with a first radius, a selected predicting radius from at least one second radius associated with at least one second occupied coarse point having a second sensor index different from the first sensor index, and from at least one third radius associated with at least one third occupied coarse point having a sensor index equal to the first sensor index; encoding, in the bitstream, data indicating if the selected predicting radius is equal to either a second radius or a third radius; and predictively encoding, in the bitstream, a residual radius between the first radius and the selected predicting radius.

Abstract: Methods and devices for encoding a point cloud. More than one frame of reference is identified and a transform defines the relative motion of a second frame of reference to a first frame of reference. The space is segmented into regions and each region is associated with one of the frames of reference. Local motion vectors within a region are expressed relative to the frame of reference associated with that region. Occupancy of the bitstream is entropy encoded based on predictions determined using the location motion vectors and the transform associated with the attached frame of reference.