Global motion estimation using road and ground object marking for geometry-based point cloud compression

An example apparatus for encoding and decoding point cloud data includes a memory configured to store data representing points of a point cloud; and one or more processors implemented in the circuitry and configured to: determine height values for points in the point cloud; classifying the points into a ground point set or an object point set according to the height values; and coding and decoding the ground points and the object points according to the classification. The one or more processors may determine top and bottom thresholds and classify ground points and object points according to the top and bottom thresholds. The one or more processors may also encode a data structure including data representing top and bottom thresholds, such as a geometric parameter set (GPS). 一种用于编解码点云数据的示例设备包括：存储器，其被配置为存储表示点云的点的数据；以及在电路中实施的一个或多个处理器并且其被配置为：确定点云中的点的高度值；根据高度值将点分类为地面点集或物体点集；并根据分类对地面点和物体点进行编解码。一个或多个处理器可以确定顶部和底部阈值，并根据顶部和底部阈值对地面点和物体点进行分类。一个或多个处理器还可以编解码包括表示顶部和底部阈值的数据的数据结构，诸如几何参数集(GPS)。