Layer-Wise Geometry Aggregation Framework for Lossless LiDAR Point Cloud Compression

Abstract

Point cloud compression is critical to deploy 3D applications like autonomous driving. However, LiDAR point clouds contain many disconnected regions, where redundant bits for unoccupied 3D space and weak correlations between points make it a troublesome problem to achieve efficient compression. This paper aims to aggregate LiDAR point clouds to get compact representations with full consideration of the point distribution characteristics. Specifically, we propose a novel Layer-wise Geometry Aggregation (LGA) framework for LiDAR point cloud lossless geometry compression, which adaptively partitions point clouds into three layers based on the content properties, including a ground layer, an object layer, and a noise layer. The aggregation algorithms are delicately designed for each layer. Firstly, the ground layer is fitted to a Gaussian Mixture Model, which can uniformly represent ground points using much fewer model parameters than adopting the original 3D coordinates. Then, the object layer is tightly packed to reduce the space between objects effectively, and a dense layout for points can benefit compression efficiency. Finally, in the noise layer, the difference between neighbor points is reduced by reordering using Morton Code, and the reduced residuals can help saving bit consumption. Experimental results demonstrate that the proposed LGA significantly outperforms competitive methods without prior knowledge by 12.05~23.37% compression ratio gains. Furthermore, the enhanced LGA with prior knowledge shows consistent performance gains than the latest reference software. Additional results also validate the robustness and stability of our proposed scheme with acceptable time complexity.