arXiv:2608.00687cs.CV2026-08

提出可容忍70%数据截断的激光雷达压缩模型,保障传输鲁棒性。

Proteus: A Truncation-Robust Entropy Model for Progressive LiDAR Compression

论文配图:Proteus: A Truncation-Robust Entropy Model for Progressive LiDAR Compression
图 1 · 摘自论文原文
  • 分两路编码:关键位平面保感知下限,非关键位平面按精度降级
  • 在理想信道下比现有标准最高提升2.1dB,支持70%截断仍可用
  • 适合车载高可靠通信场景,尤其信道不稳定时

激光雷达点云提供精确的物理边界,对安全协同感知至关重要。但无线信道会破坏传输信号。现有鲁棒框架(如深度联合源信道编码或多描述编码)通过统计或参数估计将精确测量转为未经验证的算法估计。为此,我们提出Proteus,一种基于2D距离图的可学习激光雷达编解码器。其将帧表示解耦为独立编码的显著范围比特平面(SIG)和不显著范围比特平面及属性(INS)。SIG块编码最显著的范围比特平面,建立必要的、自包含的感知下限,低于此阈值重建点云将严重退化。而INS采用比特平面切片表示与编码,确保范围截断数学上等价于确定的空间精度下降。属性通过混合无损-预测方法重构,利用解码后的几何结构作为强先验进行精细逼近。此外,在带宽下降时,INS内部优先保证几何信息。在Waymo Open Dataset和SemanticKITTI上的实验表明,Proteus可容忍约70%比特流截断,优于现有标准(G-PCC、Draco、JPEG XL)和代表性学习压缩器Unicorn。

原文摘要 · Abstract (English)

LiDAR point clouds provide explicit, deterministic physical boundaries critical for collaborative safety-critical perception. However, wireless channels inherently impair and corrupt transmitted signals. Existing robust frameworks (such as deep JSCC or MDC) attempt to counter these channel impairments through statistical or parametric estimation, turning exact physical measurements into unverified algorithmic estimates. To address this, we propose Proteus, a learned LiDAR codec operating on 2D range images. By decoupling the frame representation into independent coders for the \textbf{sig}nificant range bit-planes (SIG) and the \textbf{ins}ignificant range bit-planes and attributes (INS), Proteus achieves overall stream-level truncation robustness. The non-truncatable SIG block encodes the most significant range bit-planes to establish a necessary, self-contained perceptual lower bound, below which the reconstructed point cloud is severely degraded. Meanwhile, INS employs bit-plane slicing representation and coding, ensuring that range truncation mathematically maps to a deterministic spatial precision degradation. Subordinate attributes are reconstructed via a hybrid lossless-predictive method, leveraging the decoded geometry as a strong structural prior for fine-grained approximation. Furthermore, strategic ordering within INS prioritizes geometry over attributes under bandwidth drops. Experimental results on the Waymo Open Dataset and SemanticKITTI demonstrate that Proteus tolerates up to approximately 70\% bitstream truncation, while outperforming established standards (G-PCC, Draco, and JPEG XL) and the representative learned compressor Unicorn under ideal channel conditions.

激光雷达压缩信道鲁棒比特平面编码

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