A Survey on Data Compression Techniques for Automotive LiDAR Point Clouds

Coding based §

Format based §

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2D based §

• Cartesian -> Spherical
• Range image $(r,\theta ,\varphi )$, pixel coordinate store value $r$
  • 因为是线雷达所以假设旋转平面的坐标是稠密, 也就是 $(\theta ,\varphi )$ 稠密
• Intra-Frame
  • JPEG
    • Discrete Cosine Transform (DCT)
    • Discrete Wavelet Transform (DWT)
  • PNG
• Inter-Frame
  • Log range images
  • Layered range images 多张 range image 合并重整

3D based §

• G-PCC

Tensor based §