A decoder includes circuitry configured to receive a bitstream; construct, for a current block, a motion vector candidate list including adding a global motion vector candidate to the motion vector candidate list; and reconstruct pixel data of the current block and using the motion vector candidate list. Related apparatus, systems, techniques and articles are also described.

An example device for coding point cloud data includes a memory configured to store data representing points of a point cloud, and one or more processors implemented in circuitry and configured to: determine height values of points in a point cloud; classify the points into a set of ground points or a set of object points according to the height values; and code the ground points and the object points according to the classifications. The one or more processors may determine top and bottom thresholds and classify the ground and object points according to the top and bottom thresholds. The one or more processors may further code a data structure, such as a geometry parameter set (GPS), including data representing the top and bottom thresholds.

An example device for coding point cloud data includes a memory configured to store data representing points of a point cloud, and one or more processors implemented in circuitry and configured to: determine height values of points in a point cloud; classify the points into a set of ground points or a set of object points according to the height values; and code the ground points and the object points according to the classifications. The one or more processors may determine top and bottom thresholds and classify the ground and object points according to the top and bottom thresholds. The one or more processors may further code a data structure, such as a geometry parameter set (GPS), including data representing the top and bottom thresholds.

Video coding using a constructed reference frame may include generating, by a processor in response to instructions stored on a non-transitory computer readable medium, an encoded video and outputting an output bitstream. Generating the encoded video includes receiving an input video stream, generating a constructed reference frame, generating an encoded constructed reference frame by encoding the constructed reference frame, including the encoded constructed reference frame in an output bitstream such that the constructed reference frame is a non-showable frame, generating an encoded frame by encoding a current frame from the input video stream using the constructed reference frame as a reference frame, and including the encoded frame in the output bitstream.

Video coding using a constructed reference frame may include generating, by a processor in response to instructions stored on a non-transitory computer readable medium, an encoded video and outputting an output bitstream. Generating the encoded video includes receiving an input video stream, generating a constructed reference frame, generating an encoded constructed reference frame by encoding the constructed reference frame, including the encoded constructed reference frame in an output bitstream such that the constructed reference frame is a non-showable frame, generating an encoded frame by encoding a current frame from the input video stream using the constructed reference frame as a reference frame, and including the encoded frame in the output bitstream.

An image prediction method and device are disclosed. The method includes: obtaining a first reference unit of an image unit, where respective predicted images are obtained for the image unit and the first reference unit by using a same affine model; obtaining motion information of basic motion compensation units at two or more preset positions in the first reference unit; and obtaining motion information of a basic motion compensation unit of the image unit according to the motion information. In this way, motion information of the first reference unit using a same affine motion prediction model is reused, and a more accurate motion vector of a current image unit is obtained, improving prediction accuracy and maintaining encoding and decoding complexity, thereby improving encoding and decoding performance.

An image prediction method and device are disclosed. The method includes: obtaining a first reference unit of an image unit, where respective predicted images are obtained for the image unit and the first reference unit by using a same affine model; obtaining motion information of basic motion compensation units at two or more preset positions in the first reference unit; and obtaining motion information of a basic motion compensation unit of the image unit according to the motion information. In this way, motion information of the first reference unit using a same affine motion prediction model is reused, and a more accurate motion vector of a current image unit is obtained, improving prediction accuracy and maintaining encoding and decoding complexity, thereby improving encoding and decoding performance.

A decoder includes circuitry configured to receive a bitstream, extract a header including a list of reference frames available for motion compensation, such as global motion compensation, determine, using the header, a motion model for a current block, the motion relative to a reference frame contained in the list of reference frames, and decode the current block using the motion model. Related apparatus, systems, techniques and articles are also described.

A method of determining a bitstream is described, the method including: determining a motion vector (MV) of a current block of a current video frame of a sequence of video frames comprising video data captured by a camera, the MV defining an offset of the current block relative to a prediction block, wherein part of the offset is caused by global motion in the video data if the camera is moving relative to a scene; determining motion vector predictor MW candidates for predicting the MV, the MW candidates being determined based on MVs of already encoded blocks; determining a motion compensation vector MCV for MW candidates, determining global motion compensated MW candidates based on a difference between a MW candidate and an associated MCV; selecting a compensated MW; and, determining a motion vector difference MVD based on the compensated MW and the MW; and, using entropy coding to code, the MVD, an indication of the selected compensated MW; and, conversion information for converting a MVP into a compensated MW, into a bitstream.

A decoder includes circuitry configured to receive a bitstream, extract a header, determine, using the header, a global motion model, and decode a current block of a current frame using the global motion model. Related apparatus, systems, techniques and articles are also described.