US20040001546A1 - Spatiotemporal prediction for bidirectionally predictive (B) pictures and motion vector prediction for multi-picture reference motion compensation - Google Patents
Spatiotemporal prediction for bidirectionally predictive (B) pictures and motion vector prediction for multi-picture reference motion compensation Download PDFInfo
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- US20040001546A1 US20040001546A1 US10/444,511 US44451103A US2004001546A1 US 20040001546 A1 US20040001546 A1 US 20040001546A1 US 44451103 A US44451103 A US 44451103A US 2004001546 A1 US2004001546 A1 US 2004001546A1
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Definitions
- This invention relates to video coding, and more particularly to methods and apparatuses for providing improved coding and/or prediction techniques associated with different types of video data.
- JVT Joint Video Team
- VCEG Video Coding Expert Group
- the method includes identifying at least a portion of at least one video frame to be a Bidirectionally Predictive (B) picture, and selectively encoding the B picture using at least spatial prediction to encode at least one motion parameter associated with the B picture.
- the B picture may include a block, a macroblock, a subblock, a slice, or other like portion of the video frame. For example, when a macroblock portion is used, the method produces a Direct Macroblock.
- the method further includes employing linear or non-linear motion vector prediction for the B picture based on at least one reference picture that is at least another portion of the video frame.
- the method employs median motion vector prediction to produce at least one motion vector.
- the method may also process at least one other portion of at least one other video frame to further selectively encode the B picture using temporal prediction to encode at least one temporal-based motion parameter associated with the B picture.
- the temporal prediction includes bidirectional temporal prediction, for example based on at least a portion of a Predictive (P) frame.
- the method also selectively determines applicable scaling for a temporal-based motion parameter based at least in part on a temporal distance between the predictor video frame and the frame that includes the B picture.
- temporal distance information is encoded, for example, within a header or other like data arrangement associated with the encoded B picture.
- FIG. 1 is a block diagram depicting an exemplary computing environment that is suitable for use with certain implementations of the present invention.
- FIG. 2 is a block diagram depicting an exemplary representative device that is suitable for use with certain implementations of the present invention.
- FIG. 3 is an illustrative diagram depicting spatial predication associated with portions of a picture, in accordance with certain exemplary implementations of the present invention.
- FIG. 4 is an illustrative diagram depicting Direct Prediction in B picture coding, in accordance with certain exemplary implementations of the present invention.
- FIG. 5 is an illustrative diagram depicting what happens when a scene change happens or even when the collocated block is intra-coded, in accordance with certain exemplary implementations of the present invention.
- FIG. 6 is an illustrative diagram depicting handling of collocated intra within existing codecs wherein motion is assumed to be zero, in accordance with certain exemplary implementations of the present invention.
- FIG. 7 is an illustrative diagram depicting how Direct Mode is handled when the reference picture of the collocated block in the subsequent P picture is other than zero, in accordance with certain exemplary implementations of the present invention.
- FIG. 8 is an illustrative diagram depicting an exemplary scheme wherein MV FW and MV BW are derived from spatial prediction, in accordance with certain exemplary implementations of the present invention.
- FIG. 9 is an illustrative diagram depicting how spatial prediction solves the problem of scene changes and the like, in accordance with certain exemplary implementations of the present invention.
- FIG. 10 is an illustrative diagram depicting joint spatio-temporal prediction for Direct Mode in B picture coding, in accordance with certain exemplary implementations of the present invention.
- FIG. 11 is an illustrative diagram depicting Motion Vector Prediction of a current block considering reference picture information of predictor macroblocks, in accordance with certain exemplary implementations of the present invention.
- FIG. 12 is an illustrative diagram depicting how to use more candidates for Direct Mode prediction especially if bidirectional prediction is used within the B picture, in accordance with certain exemplary implementations of the present invention.
- FIG. 13 is an illustrative diagram depicting how B pictures may be restricted in using future and past reference pictures, in accordance with certain exemplary implementations of the present invention.
- FIG. 14 is an illustrative diagram depicting projection of collocated Motion Vectors to a current reference for temporal direct prediction, in accordance with certain exemplary implementations of the present invention.
- FIGS. 15 a - c are illustrative diagrams depicting Motion Vector Predictors for one MV in different configurations, in accordance with certain exemplary implementations of the present invention.
- FIGS. 16 a - c are illustrative diagrams depicting Motion Vector Predictors for one MV with 8 ⁇ 8 partitions in different configurations, in accordance with certain exemplary implementations of the present invention.
- FIGS. 17 a - c are illustrative diagrams depicting Motion Vector Predictors for one MV with additional predictors for 8 ⁇ 8 partitioning, in accordance with certain exemplary implementations of the present invention.
- program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
- program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
- program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
- program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
- the invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.
- program modules may be located in both local and remote memory storage devices.
- FIG. 1 illustrates an example of a suitable computing environment 120 on which the subsequently described systems, apparatuses and methods may be implemented.
- Exemplary computing environment 120 is only one example of a suitable computing environment and is not intended to suggest any limitation as to the scope of use or functionality of the improved methods and systems described herein. Neither should computing environment 120 be interpreted as having any dependency or requirement relating to any one or combination of components illustrated in computing environment 120 .
- the improved methods and systems herein are operational with numerous other general purpose or special purpose computing system environments or configurations.
- Examples of well known computing systems, environments, and/or configurations that may be suitable include, but are not limited to, personal computers, server computers, thin clients, thick clients, hand-held or laptop devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
- computing environment 120 includes a general-purpose computing device in the form of a computer 130 .
- the components of computer 130 may include one or more processors or processing units 132 , a system memory 134 , and a bus 136 that couples various system components including system memory 134 to processor 132 .
- Bus 136 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures.
- bus architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnects (PCI) bus also known as Mezzanine bus.
- Computer 130 typically includes a variety of computer readable media. Such media may be any available media that is accessible by computer 130 , and it includes both volatile and non-volatile media, removable and non-removable media.
- system memory 134 includes computer readable media in the form of volatile memory, such as random access memory (RAM) 140 , and/or non-volatile memory, such as read only memory (ROM) 138 .
- RAM random access memory
- ROM read only memory
- a basic input/output system (BIOS) 142 containing the basic routines that help to transfer information between elements within computer 130 , such as during start-up, is stored in ROM 138 .
- BIOS basic input/output system
- RAM 140 typically contains data and/or program modules that are immediately accessible to and/or presently being operated on by processor 132 .
- Computer 130 may further include other removable/non-removable, volatile/non-volatile computer storage media.
- FIG. 1 illustrates a hard disk drive 144 for reading from and writing to a non-removable, non-volatile magnetic media (not shown and typically called a “hard drive”), a magnetic disk drive 146 for reading from and writing to a removable, non-volatile magnetic disk 148 (e.g., a “floppy disk”), and an optical disk drive 150 for reading from or writing to a removable, non-volatile optical disk 152 such as a CD-ROM/R/RW, DVD-ROM/R/RW/+R/RAM or other optical media.
- Hard disk drive 144 , magnetic disk drive 146 and optical disk drive 150 are each connected to bus 136 by one or more interfaces 154 .
- the drives and associated computer-readable media provide nonvolatile storage of computer readable instructions, data structures, program modules, and other data for computer 130 .
- the exemplary environment described herein employs a hard disk, a removable magnetic disk 148 and a removable optical disk 152 , it should be appreciated by those skilled in the art that other types of computer readable media which can store data that is accessible by a computer, such as magnetic cassettes, flash memory cards, digital video disks, random access memories (RAMs), read only memories (ROM), and the like, may also be used in the exemplary operating environment.
- a number of program modules may be stored on the hard disk, magnetic disk 148 , optical disk 152 , ROM 138 , or RAM 140 , including, e.g., an operating system 158 , one or more application programs 160 , other program modules 162 , and program data 164 .
- the improved methods and systems described herein may be implemented within operating system 158 , one or more application programs 160 , other program modules 162 , and/or program data 164 .
- a user may provide commands and information into computer 130 through input devices such as keyboard 166 and pointing device 168 (such as a “mouse”).
- Other input devices may include a microphone, joystick, game pad, satellite dish, serial port, scanner, camera, etc.
- a user input interface 170 that is coupled to bus 136 , but may be connected by other interface and bus structures, such as a parallel port, game port, or a universal serial bus (USB).
- USB universal serial bus
- a monitor 172 or other type of display device is also connected to bus 136 via an interface, such as a video adapter 174 .
- personal computers typically include other peripheral output devices (not shown), such as speakers and printers, which may be connected through output peripheral interface 175 .
- Computer 130 may operate in a networked environment using logical connections to one or more remote computers, such as a remote computer 182 .
- Remote computer 182 may include many or all of the elements and features described herein relative to computer 130 .
- Logical connections shown in FIG. 1 are a local area network (LAN) 177 and a general wide area network (WAN) 179 .
- LAN local area network
- WAN wide area network
- Such networking environments are commonplace in offices, enterprise-wide computer networks, intranets, and the Internet.
- computer 130 When used in a LAN networking environment, computer 130 is connected to LAN 177 via network interface or adapter 186 .
- the computer When used in a WAN networking environment, the computer typically includes a modem 178 or other means for establishing communications over WAN 179 .
- Modem 178 which may be internal or external, may be connected to system bus 136 via the user input interface 170 or other appropriate mechanism.
- FIG. 1 Depicted in FIG. 1, is a specific implementation of a WAN via the Internet.
- computer 130 employs modem 178 to establish communications with at least one remote computer 182 via the Internet 180 .
- program modules depicted relative to computer 130 may be stored in a remote memory storage device.
- remote application programs 189 may reside on a memory device of remote computer 182 . It will be appreciated that the network connections shown and described are exemplary and other means of establishing a communications link between the computers may be used.
- FIG. 2 is a block diagram depicting another exemplary device 200 that is also capable of benefiting from the methods and apparatuses disclosed herein.
- Device 200 is representative of any one or more devices or appliances that are operatively configured to process video and/or any related types of data in accordance with all or part of the methods and apparatuses described herein and their equivalents.
- device 200 may take the form of a computing device as in FIG.
- device 200 includes logic 202 configured to process video data, a video data source 204 configured to provide vide data to logic 202 , and at least one display module 206 capable of displaying at least a portion of the video data for a user to view.
- Logic 202 is representative of hardware, firmware, software and/or any combination thereof.
- logic 202 includes a compressor/decompressor (codec), or the like.
- Video data source 204 is representative of any mechanism that can provide, communicate, output, and/or at least momentarily store video data suitable for processing by logic 202 .
- Video reproduction source is illustratively shown as being within and/or without device 200 .
- Display module 206 is representative of any mechanism that a user might view directly or indirectly and see the visual results of video data presented thereon.
- device 200 may also include some form or capability for reproducing or otherwise handling audio data associated with the video data.
- an audio reproduction module 208 is shown.
- This section describes several exemplary improvements that can be implemented to encode Bidirectionally Predictive (B) pictures and Motion Vector prediction within a video coding system or the like.
- the exemplary methods and apparatuses can be applied to predict motion vectors and enhancements in the design of a B picture Direct Mode.
- Such methods and apparatuses are particularly suitable for multiple picture reference codecs, such as, for example, JVT, and can achieve considerable coding gains especially for panning sequences or scene changes.
- Bidirectionally Predictive (B) pictures are an important part of most video coding standards and systems since they tend to increase the coding efficiency of such systems, for example, when compared to only using Predictive (P) pictures.
- This improvement in coding efficiency is mainly achieved by the consideration of bidirectional motion compensation, which can effectively improve motion compensated prediction and thus allow the encoding of significantly reduced residue information.
- the introduction of the Direct Prediction mode for a Macroblock/block within such pictures can further increase efficiency considerably (e.g., more than 10-20%) since no motion information is encoded. Such may be accomplished, for example, by allowing the prediction of both forward and backward motion information to be derived directly from the motion vectors used in the corresponding macroblock of a subsequent reference picture.
- FIG. 4 illustrates Direct Prediction in B picture at time coding based on P frames at times t and t+2, and the applicable motion vectors (MVs).
- MVs motion vectors
- TR B is the temporal distance between the current B picture and the reference picture pointed by the forward MV of the collocated MB
- TR D is the temporal distance between the future reference picture and the reference picture pointed by the forward MV of the collocated MB.
- FIG. 5 illustrates what happens when a scene change occurs in the video sequence and/or what happens when the collocated block is intra.
- FIG. 5 illustrates what happens when a scene change occurs in the video sequence and/or what happens when the collocated block is intra.
- bidirectional prediction would provide little if any benefit.
- the Direct Mode could be completely wasted.
- conventional implementations of the Direct Mode restrict it to always perform a bidirectional prediction of a Macroblock.
- FIG. 7 is an illustrative diagram depicting how Direct Mode is handled when the reference picture of the collocated block in the subsequent P picture is other than zero, in accordance with certain implementations of the present invention.
- a new Direct Macroblock type is introduced wherein both temporal prediction and/or spatial prediction is considered.
- the type(s) of prediction used can depend on the type of reference picture information of the first subsequent P reference picture, for example.
- Direct Mode is designed as a bidirectional prediction scheme where motion parameters are always predicted in a temporal way from the motion parameters in the subsequent P images.
- an enhanced Direct Mode technique is provided in which spatial information may also/alternatively be considered for such predictions.
- One or more of the following exemplary techniques may be implemented as needed, for example, depending on the complexity and/or specifications of the system.
- One technique is to implement spatial prediction of the motion vector parameters of the Direct Mode without considering temporal prediction.
- Spatial prediction can be accomplished, for example, using existing Motion Vector prediction techniques used for motion vector encoding (such as, e.g., median prediction). If multiple picture references are used, then the reference picture of the adjacent blocks may also be considered (even though there is no such restriction and the same reference, e.g. 0, could always be used).
- Motion parameters and reference pictures could be predicted as follows and with reference to FIG. 3, which illustrates spatial predication associated with portions A-E (e.g., macroblocks, slices, etc.) assumed to be available and part of a picture.
- E is predicted in general from A, B, C as Median (A, B, C). If C is actually outside of the picture then D is used instead. If B, C, and D are outside of picture, then only A is used, where as if A does not exist, such is replaced with (0,0).
- FIG. 3 illustrates spatial predication associated with portions A-E (e.g., macroblocks, slices, etc.) assumed to be available and part of a picture.
- E is predicted in general from A, B, C as Median (A, B, C). If C is actually outside of the picture then D is used instead. If B, C, and D are outside of picture, then only A is used, where as if A does not exist, such is replaced with (0,0).
- Those skilled in the art will recognize that spatial prediction
- One method may be to select a minimum reference picture among the predictions.
- a median reference picture may be selected.
- a selection may be made between a minimum reference picture and median reference picture, e.g., if the minimum is zero.
- a higher priority could also be given to either vertical or horizontal predictors (A and B) due to their possibly stronger correlation with E.
- Temporal prediction is used for Macroblocks if the subsequent P reference is non intra as in existing codecs. Attention is now drawn to FIG. 8, in which MV FW and MV BW are derived from spatial prediction (Median MV of surrounding Macroblocks). If either one is not available (i.e., no predictors) then one-direction is used. If a subsequent P reference is intra, then spatial prediction can be used instead as described above. Assuming that no restrictions exist, if one of the predictions is not available then Direct Mode becomes a single direction prediction mode.
- temporal prediction will not be as efficient in the direct mode for blocks when the collocated P reference block has a non-zero reference picture.
- spatial prediction may also be used as above.
- one may estimate scaling parameters if one of the surrounding macroblocks also uses the same reference picture as the collocated P reference block.
- special handling may be provided for the case of zero motion (or close to zero motion) with a non-zero reference.
- regardless of temporal distance forward and backward motion vectors could always be taken as zero.
- the best solution may be to always examine the reference picture information of surrounding macroblocks and based thereon decide on how the direct mode should be handled in such a case.
- Case B If all surrounding macroblocks use different reference pictures than the collocated P reference, then spatial prediction appears to be a better choice and temporal prediction is not used.
- Case D Spatial or temporal prediction of Direct Mode macroblocks could be signaled inside the image header. A pre-analysis of the image could be performed to decide which should be used.
- Case E Correction of the temporally predicted parameters based on spatial information (or vice versa).
- spatial information could be a very good candidate for the direct mode prediction.
- a correction could also be done on the phase, thus correcting the sub pixel accuracy of the prediction.
- FIG. 10 illustrates a joint spatio-temporal prediction for Direct Mode in B picture coding.
- Direct Mode can be a 1- to 4-direction mode depending on information available.
- Bi-directional prediction for Direct Mode macroblocks a multi-hypothesis extension of such mode can be done and multiple predictions used instead.
- Direct Mode macroblocks can be predicted using from one up to four possible motion vectors depending on the information available. Such can be decided, for example, based on the mode of the collocated P reference image macroblock and on the surrounding macroblocks in the current B picture. In such a case, if the spatial prediction is too different than the temporal one, one of them could be selected as the only prediction in favor of the other. Since spatial prediction as described previously, might favor a different reference picture than the temporal one, the same macroblock might be predicted from more than 2 reference pictures.
- the JVT standard does not restrict the first future reference to be a P picture.
- a picture can be a B as illustrated in FIG. 12, or even a Multi-Hypothesis (MH) picture.
- MH Multi-Hypothesis
- the first subsequent reference picture is a B picture (pictures B 8 and B 9 ). This enables one to use more candidates for Direct Mode prediction especially if bidirectional prediction is used within the B picture.
- the collocated reference block in the first future reference is using bidirectional prediction
- the corresponding motion vectors forward or backward
- the corresponding motion vectors are used for calculating the motion vectors of the current block. Since the backward motion vector of the reference corresponds to a future reference picture, special care should be taken in the estimate of the current motion parameters. Attention is drawn, for example to FIG. 12 in which the first subsequent reference picture is a B picture (pictures B 8 and B 9 ). This enables one to use more candidates for Direct Mode prediction especially if bidirectional prediction is used within the B picture.
- the backward motion vector of B 8 ⁇ right arrow over (MV) ⁇ B8bw can be calculated as 2 ⁇ right arrow over (MV) ⁇ B7bw due to the temporal distance between B 8 , B 7 and P 6
- the backward motion vector can be taken as ⁇ right arrow over (MV) ⁇ B7bw , if though these refer to the B 7 .
- a similar conclusion can be deduced about the forward motion vectors. Multiple picture reference or intra macroblocks can be handled similar to the previous discussion.
- bidirectional prediction for the collocated block If bidirectional prediction for the collocated block is used, then, in this example, one may estimate four possible predictions for one macroblock for the direct mode case by projecting and inverting the backward and forward motion vectors of the reference.
- Motion vector prediction for multi-picture reference motion compensation can significantly affect the performance of both B and P picture coding.
- Existing standards such as, for example, JVT, do not always consider the reference pictures of the macroblocks used in the prediction. The only consideration such standards do make is when only one of the prediction macroblocks uses the same reference. In such a case, only that predictor is used for the motion prediction. There is no consideration of the reference picture if only one or all predictors are using a different reference.
- FIG. 11 illustrates Motion Vector prediction of a current block (C) considering the reference picture information of predictor macroblocks (Pr) and performance of proper adjustments (e.g., scaling of the predictors).
- MV ⁇ pred TR ⁇ Median ⁇ ( MV ⁇ A TR A , MV ⁇ B TR B , MV ⁇ C TR C )
- Motion Vector prediction as discussed previously is basically median biased, meaning that the median value among a set of predictors is selected for the prediction. If one only uses one type of macroblock (e.g., 16 ⁇ 16) with one Motion Vector (MV), then these predictors can be defined, for example, as illustrated in FIG. 15. Here, MV predictors are shown for one MV. In FIG. 15 a , the MB is not in the first row or the last column. In FIG. 15 b , the MB is in the last column. In FIG. 15 c , the MB is in the first row.
- macroblock e.g. 16 ⁇ 16
- MV predictors are shown for one MV.
- FIG. 15 a the MB is not in the first row or the last column.
- the MB is in the last column.
- FIG. 15 c the MB is in the first row.
- the JVT standard improves on this further by also considering the case that only one of the three predictors exists (i.e. Macroblocks are intra or are using a different reference picture in the case of multi-picture prediction). In such a case, only the existing or same reference predictor is used for the prediction and all others are not examined.
- Intra coding does not always imply that a new object has appeared or that scene changes. It might instead, for example, be the case that motion estimation and compensation is inadequate to represent the current object (e.g., search range, motion estimation algorithm used, quantization of residue, etc) and that better results could be achieved through Intra Coding instead. The available motion predictors could still be adequate enough to provide a good motion vector predictor solution.
- MPEG-4 and H.263 standards can have up to four such subblocks (e.g., with size 8 ⁇ 8 ), where as the JVT standard allows up to sixteen subblocks while also being able to handle variable block sizes (e.g., 4 ⁇ 4, 4 ⁇ 8, 8 ⁇ 4,8 ⁇ 8, 8 ⁇ 16, 16 ⁇ 8, and 16 ⁇ 16).
- JVT also allows for 8 ⁇ 8 Intra subblocks, thus complicating things even further.
- FIGS. 16 a - c having a similar arrangement to FIGS. 15 a - c , respectively.
- Motion Vector predictors are shown for one MV with 8 ⁇ 8 partitions. Even though the described predictors could give reasonable results in some cases, it appears that they may not adequately cover all possible predictions.
- FIGS. 17 a - c Attention is drawn next to FIGS. 17 a - c , which are also in a similar arrangement to FIGS. 15 a - c , respectively.
- FIGS. 17 a - c there are two additional predictors that could also be considered in the prediction phase (C 1 and A 2 ). If 4 ⁇ 4 blocks are also considered, this increases the possible predictors by four.
- predictors A 1 , and C 2 are essentially too close with one another and it may be the case that they may not be too representative in the prediction phase. Instead, selecting predictors A 1 , C 1 , and B seems to be a more reliable solution due to their separation.
- An alternative could also be the selection of A 2 instead of A 1 but that may again be too close to predictor B. Simulations suggest that the first case is usually a better choice.
- a 2 could be used instead of A l .
- For the first row either one of A 1 and A 2 or even their average value could be used. Gain up to 1% was noted within JVT with this implementation.
- ⁇ right arrow over (MV) ⁇ pred Median( Ave ( ⁇ right arrow over (MV) ⁇ C 1 , ⁇ right arrow over (MV) ⁇ C 2 ), Ave ( ⁇ right arrow over (MV) ⁇ A 1 , ⁇ right arrow over (MV) ⁇ A 2 ), ⁇ right arrow over (MV) ⁇ B ).
- the median can be calculated as:
- ⁇ right arrow over (MV) ⁇ pred (Median(Median( ⁇ right arrow over (MV) ⁇ C 1 , ⁇ right arrow over (MV) ⁇ C 2 , ⁇ right arrow over (MV) ⁇ D ), . . . Median( ⁇ right arrow over (MV) ⁇ D , ⁇ right arrow over (MV) ⁇ A 1 , ⁇ right arrow over (MV) ⁇ C 2 ),Median( ⁇ right arrow over (MV) ⁇ B , ⁇ right arrow over (MV) ⁇ A 1 , ⁇ right arrow over (MV) ⁇ A 2 )))
- ⁇ right arrow over (MV) ⁇ pred Median( ⁇ right arrow over (MV) ⁇ C 1 , ⁇ right arrow over (MV) ⁇ C 2 , ⁇ right arrow over (MV) ⁇ D , ⁇ right arrow over (MV) ⁇ B , ⁇ right arrow over (MV) ⁇ A 1 , ⁇ right arrow over (MV) ⁇ A 2 )
- JVT allows the existence of Intra subblocks within an Inter Macroblock (e.g., tree macroblock structure), such could also be taken in consideration within the Motion Prediction.
- a subblock e.g., from Macroblocks above or left only
- the adjacent subblock may be used instead.
- Al is intra but A 2 is not
- Al can be replaced by A 2 in the prediction.
- a further possibility is to replace one missing Intra Macroblock with the MV predictor from the upper-left position. In FIG. 17 a , for example, if C 1 is missing then D may be used instead.
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| EP1369820A3 (en) | 2004-03-03 |
| US20170118488A1 (en) | 2017-04-27 |
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