TY - JOUR
T1 - A Novel Coding Scheme for Large-Scale Point Cloud Sequences Based on Clustering and Registration
AU - Sun, Xuebin
AU - Sun, Yuxiang
AU - Zuo, Weixun
AU - Cheng, Shing Shin
AU - Liu, Ming
PY - 2022/7
Y1 - 2022/7
N2 - Due to the huge volume of point cloud data, storing and transmitting it is currently difficult and expensive in autonomous driving. Learning from the high-efficiency video coding (HEVC) framework, we propose a novel compression scheme for large-scale point cloud sequences, in which several techniques have been developed to remove the spatial and temporal redundancy. The proposed strategy consists mainly of three parts: intracoding, intercoding, and residual data coding. For intracoding, inspired by the depth modeling modes (DMMs), in 3-D HEVC (3-D-HEVC), a cluster-based prediction method is proposed to remove the spatial redundancy. For intercoding, a point cloud registration algorithm is utilized to transform two adjacent point clouds into the same coordinate system. By calculating the residual map of their corresponding depth image, the temporal redundancy can be removed. Finally, the residual data are compressed either by lossless or lossy methods. Our approach can deal with multiple types of point cloud data, from simple to more complex. The lossless method can compress the point cloud data to 3.63% of its original size by intracoding and 2.99% by intercoding without distance distortion. Experiments on the KITTI dataset also demonstrate that our method yields better performance compared with recent well-known methods. Note to Practitioners - This article deals with the problem of efficient compression of point cloud sequences that come from light detection and ranging (LiDARs) mounted on autonomous mobile robots. The vast amount of point cloud data could be an important bottleneck for transmission and storage. Inspired by the HEVC algorithm, we develop a novel coding architecture for the point cloud sequence. The scans are divided into intraframe and interframe, which are encoded separately using different techniques. Our method can be used for the compression of LiDAR point cloud sequences or dense LiDAR point cloud map and will significantly reduce the transmission bandwidth and storage spaces. We have to admit that although our method is less effective for real-time solutions, it can be highly efficient for off-line applications. Future studies will concentrate on further optimizing the coding algorithm to reduce the computational complexity and trying to find a balance between them. © 2021 IEEE.
AB - Due to the huge volume of point cloud data, storing and transmitting it is currently difficult and expensive in autonomous driving. Learning from the high-efficiency video coding (HEVC) framework, we propose a novel compression scheme for large-scale point cloud sequences, in which several techniques have been developed to remove the spatial and temporal redundancy. The proposed strategy consists mainly of three parts: intracoding, intercoding, and residual data coding. For intracoding, inspired by the depth modeling modes (DMMs), in 3-D HEVC (3-D-HEVC), a cluster-based prediction method is proposed to remove the spatial redundancy. For intercoding, a point cloud registration algorithm is utilized to transform two adjacent point clouds into the same coordinate system. By calculating the residual map of their corresponding depth image, the temporal redundancy can be removed. Finally, the residual data are compressed either by lossless or lossy methods. Our approach can deal with multiple types of point cloud data, from simple to more complex. The lossless method can compress the point cloud data to 3.63% of its original size by intracoding and 2.99% by intercoding without distance distortion. Experiments on the KITTI dataset also demonstrate that our method yields better performance compared with recent well-known methods. Note to Practitioners - This article deals with the problem of efficient compression of point cloud sequences that come from light detection and ranging (LiDARs) mounted on autonomous mobile robots. The vast amount of point cloud data could be an important bottleneck for transmission and storage. Inspired by the HEVC algorithm, we develop a novel coding architecture for the point cloud sequence. The scans are divided into intraframe and interframe, which are encoded separately using different techniques. Our method can be used for the compression of LiDAR point cloud sequences or dense LiDAR point cloud map and will significantly reduce the transmission bandwidth and storage spaces. We have to admit that although our method is less effective for real-time solutions, it can be highly efficient for off-line applications. Future studies will concentrate on further optimizing the coding algorithm to reduce the computational complexity and trying to find a balance between them. © 2021 IEEE.
KW - Cluster-based prediction
KW - compression
KW - depth modeling mode (DMM)
KW - point cloud sequence
KW - registration
UR - http://www.scopus.com/inward/record.url?scp=85107329964&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85107329964&origin=recordpage
U2 - 10.1109/TASE.2021.3082196
DO - 10.1109/TASE.2021.3082196
M3 - RGC 21 - Publication in refereed journal
SN - 1545-5955
VL - 19
SP - 2384
EP - 2396
JO - IEEE Transactions on Automation Science and Engineering
JF - IEEE Transactions on Automation Science and Engineering
IS - 3
ER -