# Multiscale Latent-Guided Entropy Model for LiDAR Point Cloud Compression

arXiv: https://arxiv.org/abs/2209.12512 · HTML: https://mlsanity.com/paper/2209.12512/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 56 references that are in the map.
- First posted on arXiv 26 Sep 2022.

## Builds on (most cited first, 23 of 23)

- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Inception-v4, Inception-ResNet and the Impact of Residual Connections on Learning](https://mlsanity.com/paper/1602.07261/) (2016)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [Variational image compression with a scale hyperprior](https://mlsanity.com/paper/1802.01436/) (2018)
- [Pixel Recurrent Neural Networks](https://mlsanity.com/paper/1601.06759/) (2016)
- [End-to-end Optimized Image Compression](https://mlsanity.com/paper/1611.01704/) (2016)
- [PixelCNN++: Improving the PixelCNN with Discretized Logistic Mixture Likelihood and Other Modifications](https://mlsanity.com/paper/1701.05517/) (2017)
- [DVC: An End-to-end Deep Video Compression Framework](https://mlsanity.com/paper/1812.00101/) (2018)
- [Deep Contextual Video Compression](https://mlsanity.com/paper/2109.15047/) (2021)
- [FVC: A New Framework towards Deep Video Compression in Feature Space](https://mlsanity.com/paper/2105.09600/) (2021)
- [Multiscale Point Cloud Geometry Compression](https://mlsanity.com/paper/2011.03799/) (2020)
- [OctSqueeze: Octree-Structured Entropy Model for LiDAR Compression](https://mlsanity.com/paper/2005.07178/) (2020)
- [VoxelContext-Net: An Octree based Framework for Point Cloud Compression](https://mlsanity.com/paper/2105.02158/) (2021)
- [Learned Point Cloud Geometry Compression](https://mlsanity.com/paper/1909.12037/) (2019)
- [Inferring Point Cloud Quality via Graph Similarity](https://mlsanity.com/paper/2006.00497/) (2020)
- [OctAttention: Octree-Based Large-Scale Contexts Model for Point Cloud Compression](https://mlsanity.com/paper/2202.06028/) (2022)
- [Coarse-to-fine Deep Video Coding with Hyperprior-guided Mode Prediction](https://mlsanity.com/paper/2206.07460/) (2022)
- [Learning Convolutional Transforms for Lossy Point Cloud Geometry Compression](https://mlsanity.com/paper/1903.08548/) (2019)
- [Improved Deep Point Cloud Geometry Compression](https://mlsanity.com/paper/2006.09043/) (2020)
- [MuSCLE: Multi Sweep Compression of LiDAR using Deep Entropy Models](https://mlsanity.com/paper/2011.07590/) (2020)
- [RIDDLE: Lidar Data Compression with Range Image Deep Delta Encoding](https://mlsanity.com/paper/2206.01738/) (2022)
- [Real-Time Spatio-Temporal LiDAR Point Cloud Compression](https://mlsanity.com/paper/2008.06972/) (2020)

## Built on by (most cited first, 9 of 9)

- [RENO: Real-Time Neural Compression for 3D LiDAR Point Clouds](https://mlsanity.com/paper/2503.12382/) (2025)
- [Geometric Prior Based Deep Human Point Cloud Geometry Compression](https://mlsanity.com/paper/2305.01309/) (2023)
- [Pointsoup: High-Performance and Extremely Low-Decoding-Latency Learned Geometry Codec for Large-Scale Point Cloud Scenes](https://mlsanity.com/paper/2404.13550/) (2024)
- [Enhancing context models for point cloud geometry compression with context feature residuals and multi-loss](https://mlsanity.com/paper/2407.08520/) (2024)
- [Point Cloud Compression and Objective Quality Assessment: A Survey](https://mlsanity.com/paper/2506.22902/) (2025)
- [Compression of Large-Scale 3D Point Clouds Based on Joint Optimization of Point Sampling and Feature Extraction](https://mlsanity.com/paper/2412.07302/) (2024)
- [ProDAT: Progressive Density-Aware Tail-Drop for Point Cloud Coding](https://mlsanity.com/paper/2510.17068/) (2025)
- [FLaTEC: Frequency-Disentangled Latent Triplanes for Efficient Compression of LiDAR Point Clouds](https://mlsanity.com/paper/2511.20065/) (2025)
- [Inter-LPCM: Learning-based Inter-Frame Predictive Coding for LiDAR Point Cloud Compression](https://mlsanity.com/paper/2605.18006/) (2026)

## Abstract (arXiv)

The non-uniform distribution and extremely sparse nature of the LiDAR point cloud (LPC) bring significant challenges to its high-efficient compression. This paper proposes a novel end-to-end, fully-factorized deep framework that encodes the original LPC into an octree structure and hierarchically decomposes the octree entropy model in layers. The proposed framework utilizes a hierarchical latent variable as side information to encapsulate the sibling and ancestor dependence, which provides sufficient context information for the modelling of point cloud distribution while enabling the parallel encoding and decoding of octree nodes in the same layer. Besides, we propose a residual coding framework for the compression of the latent variable, which explores the spatial correlation of each layer by progressive downsampling, and model the corresponding residual with a fully-factorized entropy model. Furthermore, we propose soft addition and subtraction for residual coding to improve network flexibility. The comprehensive experiment results on the LiDAR benchmark SemanticKITTI and MPEG-specified dataset Ford demonstrates that our proposed framework achieves state-of-the-art performance among all the previous LPC frameworks. Besides, our end-to-end, fully-factorized framework is proved by experiment to be high-parallelized and time-efficient and saves more than 99.8% of decoding time compared to previous state-of-the-art methods on LPC compression.