US Patent 12079934 Point cloud re-sampling using hierarchical sphere or disk distributions

A hierarchical sphere and/or hierarchical disk distribution is used to re-sample points of a point cloud to achieve a well distributed re-sampled point distribution. The re-sampled points are represented by integer values defining a given partition in which a respective re-sampled point resides and an index value. The index value identifies a sphere (or disk) within the given partition to which the re-sampled point belongs. The spatial location of the resampled point is determined based on the location of the partition to which the re-sampled point belongs and the location of a sample bin (e.g. sphere) in the partition having an index value communicated for the re-sampled point.