Data processing method and corresponding device

Abstract

The data processing method can be applied to a communication perception integrated system, and the method comprises the steps that a first device sends a reconstruction instruction and a reconstruction quality requirement to at least one second device, the reconstruction instruction is used for instructing point cloud data of a perception target surface to be reconstructed into a surface element, and the reconstruction quality requirement is used for instructing a quality parameter of the reconstructed surface element; and the second device reconstructs the target point cloud data into a surface element according to the reconstruction indication and the reconstruction quality requirement, and then sends the surface element to the first device. Because the surface elements are formed by specific vertexes according to a certain topological connection relation, a grid formed by the surface elements reduces many points relative to target point cloud data, and the reconstructed surface elements are constrained by quality parameters of the reconstructed surface elements, so that actual scene requirements can be met. In this way, under the condition that the actual scene requirement is met, compared with point cloud data sending, the second device sends the surface element to the first device, the data transmission amount is reduced, and the data storage amount of the first device is also reduced.

Description

A data processing method and corresponding device Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a data processing method and corresponding device. Background Art

[0002] The integrated communication and perception system uses base stations and terminal devices as perception nodes to image the target scene and obtain an imaging point cloud. Each perception node then transmits its acquired point cloud data to the control node, which then obtains the global point cloud data.

[0003] However, the number of point cloud data points in some scenes (for example, urban scenes) is usually over 10 million, and the data volume is large, which places high demands on storage and transmission.

[0004] Summary of the Invention

[0005] The present application provides a data processing method for reducing the data transmission volume of point cloud data. The present application also provides a corresponding device, a computer-readable storage medium, and a computer program product.

[0006] In a first aspect, the present application provides a data processing method, comprising: a first device sends a reconstruction instruction and a reconstruction quality requirement to at least one second device, wherein the reconstruction instruction is used to instruct the reconstruction of point cloud data of the surface of a perceived target into facets, and the reconstruction quality requirement is used to indicate the quality parameters of the reconstructed facets; the first device receives facets from each second device in at least one second device; wherein the facets of each second device are obtained by reconstructing the corresponding target point cloud data of each second device according to the quality parameters, and the target point cloud data are the surface point cloud data of the perceived target acquired by the corresponding second device.

[0007] The data processing method of the present application can be applied to a perception system or a communication perception integrated system. In the present application, the first device and the second device can be devices or chips (systems) in the devices. The first device can be an access network device, a terminal device or a chip (system) therein, and the second device can be an access network device, a terminal device or a chip (system) therein. The first device can have a central control function, and the second device can have a perception function, and can obtain point cloud data of the surrounding environment or building by sending perception signals.

[0008] In this application, a "surface" refers to a closed-loop geometric figure composed of points and edges, such as a triangle, quadrilateral, or other polygon. Multiple surfaces can be connected to form a mesh.

[0009] In the present application, the first device may determine the quality parameters of the reconstructed surface element based on the reconstruction requirements (requirements for displaying details after reconstruction) of the perceived target (eg, a building) in the actual scene.

[0010] In the present application, each second device can obtain part or all of the point cloud data of the perception target. The point cloud data of the perception target obtained by each second device is related to the relative position or relative perspective of the second device and the perception target. Therefore, the point cloud data obtained by different second devices may be different or not completely the same. Each second device can reconstruct the obtained target point cloud data into multiple facets, or reconstruct it into a grid composed of multiple facets, and then send the reconstructed grid composed of facets to the first device.

[0011] In this application, because facets are formed by specific vertices according to a certain topological connection relationship (wherein the specific vertices can be obtained through a reconstruction algorithm, and the specific vertices can be some points in the target point cloud data, or they can not be points in the target point cloud data), the mesh composed of facets has many fewer points and data than the target point cloud data, and the reconstructed facets are constrained by the quality parameters of the reconstructed facets and can also meet the needs of actual scenarios. In this way, when the needs of actual scenarios are met, the second device sends facets to the first device, which reduces the amount of data transmission compared to sending point cloud data, and also reduces the amount of data storage of the first device.

[0012] In a possible implementation, when there are multiple second devices, the method further includes: the first device splicing the facets of each second device into a facet model of the perception target.

[0013] In the present application, the splicing process may be that the first device performs splicing according to the coordinates of the vertices on each facet and the topological connection relationship between the vertices.

[0014] In this possible implementation, after the first device receives a grid composed of face elements sent from different second devices, it can splice the individual grids together to obtain a face element model of the perceived target, which is beneficial for the first device to make subsequent perception decisions based on the face element model, such as path planning in the Internet of Vehicles.

[0015] In one possible implementation, the reconstruction quality requirement includes at least one of a single facet quality requirement and a neighborhood facet quality requirement; wherein the single facet quality requirement is used to indicate the size and shape of a single facet, and the neighborhood facet quality requirement is used to indicate the range of values ​​of the normal angle between adjacent faces with a common vertex.

[0016] In this possible implementation, the first device uses reconstruction quality requirements to limit the size and shape of individual bins, and / or the range of normal angles between adjacent bins to control the surface roughness / smoothness of the mesh composed of bins. Furthermore, by configuring the quality requirements for individual bins and those for neighboring bins, the second device can be prevented from reconstructing overly fine bins, reducing unnecessary computations.

[0017] In one possible implementation, the facet quality requirement also includes a global facet quality requirement, which is used to indicate the proportion of target facets that should be included in the facets of each second device, where the target facets are facets that meet the single facet quality requirement and / or the neighborhood facet quality requirement.

[0018] In this possible implementation, the first device can constrain the proportion of irregular bins through global bin quality requirements, thereby improving the regularity of the grid composed of bins, and thus improving the consistency of bins in subsequent splicing results.

[0019] In a possible implementation, the quality requirement of a single bin includes at least one of a side length value range, an inner angle value range, and an area value range of the single bin.

[0020] In this possible implementation, the side length value range of a single face element may include the maximum and minimum values ​​that each side in the face element may take, the inner angle value range may include the maximum and minimum values ​​of the inner angle in the face element, and the area value range may include the maximum and minimum values ​​of the area.

[0021] In one possible implementation, when the first device and the second device are both access network devices, the method also includes: the first device determines at least one second device based on the beam coverage range of each second device in a plurality of second devices, and the beam coverage range of each second device in the at least one second device includes part or all of the perception target.

[0022] In this possible implementation, when the first device and the second device are both access network devices, there can be multiple second devices communicating with the first device, but not necessarily the beam of each second device can cover the perception target. Therefore, the first device can select the second device that can cover the perception target based on the beam coverage range of each second device, thereby improving the accuracy of obtaining the face element of the perception target.

[0023] In one possible implementation, when the first device and the second device are both terminal devices, the method also includes: the first device determines at least one second device based on the location and capability information of each second device in the multiple second devices, each second device in the at least one second device has perception capability, and is located at a position that can obtain partial point cloud data or all point cloud data of the perception target.

[0024] In this possible implementation, in a side link scenario, when the first device and the second device are both terminal devices, among the second devices communicating with the first device, some second devices may not have perception capabilities, and some second devices may not be within the range of acquiring point cloud data of the perception target. Therefore, the first device will select the second device that can be used for the perception task based on the position and capability information of each second device, thereby improving the accuracy of acquiring the face elements of the perception target.

[0025] The second aspect of the present application provides a data processing method, including: a second device receives a reconstruction instruction and a reconstruction quality requirement from a first device, the reconstruction instruction is used to instruct the reconstruction of the point cloud data of the surface of the perceived target into surface elements, and the reconstruction quality requirement is used to indicate the quality parameters of the reconstructed surface elements; the second device reconstructs the target point cloud data into surface elements according to the reconstruction instruction and the reconstruction quality requirement, the target point cloud data being the surface point cloud data of the perceived target acquired by the second device; and the second device sends the surface elements to the first device.

[0026] In the present application, the second device can obtain part or all of the point cloud data of the perceived target, and then reconstruct the target point cloud data into face elements according to the reconstruction quality requirements of the face elements. Because face elements are formed by specific vertices according to a certain topological connection relationship (wherein, specific vertices can be obtained through a reconstruction algorithm, specific vertices can be some points in the target point cloud data, or they can not be points in the target point cloud data), the grid composed of face elements has many fewer points and data than the target point cloud data, and the reconstructed face elements are constrained by the quality parameters of the reconstructed face elements, and can also meet the actual scene requirements. In this way, when the actual scene requirements are met, the second device sends face elements to the first device, which reduces the amount of data transmission compared to sending point cloud data, and also reduces the amount of data storage of the first device.

[0027] In one possible implementation, the reconstruction quality requirement includes at least one of a single facet quality requirement and a neighborhood facet quality requirement; wherein the single facet quality requirement is used to indicate the size and shape of a single facet, and the neighborhood facet quality requirement is used to indicate the range of values ​​of the normal angle between adjacent faces with a common vertex.

[0028] In one possible implementation, the facet quality requirement also includes a global facet quality requirement, which is used to indicate the proportion of target facets that should be included in the facets of each second device, where the target facets are facets that meet the single facet quality requirement and / or the neighborhood facet quality requirement.

[0029] In a possible implementation, the quality requirement of a single bin includes at least one of a side length value range, an inner angle value range, and an area value range of the single bin.

[0030] A third aspect of the present application provides a communication device, which includes a transceiver module and a processing module, wherein:

[0031] A transceiver module is used to send a reconstruction instruction and a reconstruction quality requirement to at least one second device, wherein the reconstruction instruction is used to instruct the point cloud data of the perceived target surface to be reconstructed into facets, and the reconstruction quality requirement is used to indicate the quality parameters of the reconstructed facets; and receive facets from each second device in the at least one second device; wherein the facets of each second device are obtained by each second device reconstructing its corresponding target point cloud data according to the quality parameters, and the target point cloud data are the surface point cloud data of the perceived target acquired by the corresponding second device.

[0032] In a possible implementation, when there are multiple second devices, the processing module is used to splice the facets of each second device into a facet model of the perception target.

[0033] In one possible implementation, the reconstruction quality requirement includes at least one of a single facet quality requirement and a neighborhood facet quality requirement; wherein the single facet quality requirement is used to indicate the size and shape of a single facet, and the neighborhood facet quality requirement is used to indicate the range of values ​​of the normal angle between adjacent faces with a common vertex.

[0034] In one possible implementation, the facet quality requirement also includes a global facet quality requirement, which is used to indicate the proportion of target facets that should be included in the facets of each second device, where the target facets are facets that meet the single facet quality requirement and / or the neighborhood facet quality requirement.

[0035] In a possible implementation, the quality requirement of a single bin includes at least one of a side length value range, an inner angle value range, and an area value range of the single bin.

[0036] In one possible implementation, when both the first device and the second device are access network devices, the processing module is also used to determine at least one second device based on the beam coverage of each second device in the multiple second devices, and the beam coverage of each second device in the at least one second device includes part or all of the perception target.

[0037] In one possible implementation, when both the first device and the second device are terminal devices, the processing module is also used to determine at least one second device based on the location and capability information of each second device in the multiple second devices, and each second device in the at least one second device has perception capability and is located at a position that can obtain partial point cloud data or all point cloud data of the perception target.

[0038] A fourth aspect of the present application provides a communication device, which includes a transceiver module and a processing module, wherein:

[0039] The transceiver module is used to receive a reconstruction instruction and a reconstruction quality requirement from the first device, wherein the reconstruction instruction is used to instruct the point cloud data of the perceived target surface to be reconstructed into surface elements, and the reconstruction quality requirement is used to indicate the quality parameters of the reconstructed surface elements.

[0040] The processing module is used to reconstruct the target point cloud data into surface elements according to the reconstruction instruction and the reconstruction quality requirement, where the target point cloud data is the surface point cloud data of the perception target acquired by the second device.

[0041] The transceiver module is further configured to send the facet to the first device.

[0042] In one possible implementation, the reconstruction quality requirement includes at least one of a single facet quality requirement and a neighborhood facet quality requirement; wherein the single facet quality requirement is used to indicate the size and shape of a single facet, and the neighborhood facet quality requirement is used to indicate the range of values ​​of the normal angle between adjacent faces with a common vertex.

[0043] In one possible implementation, the facet quality requirement also includes a global facet quality requirement, which is used to indicate the proportion of target facets that should be included in the facets of each second device, where the target facets are facets that meet the single facet quality requirement and / or the neighborhood facet quality requirement.

[0044] In a possible implementation, the quality requirement of a single bin includes at least one of a side length value range, an inner angle value range, and an area value range of the single bin.

[0045] In a fifth aspect, the present application provides a communication device, comprising a processor, wherein the processor is configured to call and execute a computer program stored in a memory, so that the processor implements the first aspect or any one of the implementations of the first aspect.

[0046] Optionally, the communication device further includes a transceiver; the processor is further configured to control the transceiver to transmit and receive signals.

[0047] Optionally, the communication device includes a memory in which a computer program is stored.

[0048] In a sixth aspect, the present application provides a communication device, comprising a processor configured to call and execute a computer program stored in a memory, so that the processor implements the second aspect or any one of the implementations of the second aspect.

[0049] Optionally, the communication device further includes a transceiver; the processor is further configured to control the transceiver to transmit and receive signals.

[0050] Optionally, the communication device includes a memory in which a computer program is stored.

[0051] The communication device described in the fifth to sixth aspects above may be a device or a chip (system) in the device.

[0052] The seventh aspect of the present application provides a computer program product comprising instructions, characterized in that when the computer program product is run on a computer, the computer is caused to execute the first aspect or any one of the implementation methods of the first aspect.

[0053] An eighth aspect of the present application provides a computer program product comprising instructions, characterized in that when the computer program product is run on a computer, the computer is caused to execute the second aspect or any one of the implementation methods of the second aspect.

[0054] In a ninth aspect, the present application provides a computer-readable storage medium comprising computer instructions. When the computer instructions are executed on a computer, the computer executes the first aspect or any one of the implementation methods of the first aspect.

[0055] The tenth aspect of the present application provides a computer-readable storage medium, comprising computer instructions. When the computer instructions are executed on a computer, the computer executes the second aspect or any one of the implementation methods of the second aspect.

[0056] The eleventh aspect of the present application provides a chip device, including a processor, which is used to be connected to a memory and call a program stored in the memory so that the processor executes the above-mentioned first aspect or any one of the implementation methods of the first aspect.

[0057] The twelfth aspect of the present application provides a chip device, including a processor, which is used to be connected to a memory and call a program stored in the memory so that the processor executes the above-mentioned second aspect or any one of the implementation methods of the second aspect.

[0058] The thirteenth aspect of the present application provides a communication system, which includes a first device and at least one second device. The first device can be the communication device described in the fifth aspect, seventh aspect or any one of the implementation methods therein, and the second device can be the communication device described in the sixth aspect, eighth aspect or any one of the implementation methods therein.

[0059] Regarding the technical effects of the above-mentioned third aspect and any implementation method of the third aspect, as well as the fifth, seventh, ninth and eleventh technical effects, they can be understood by referring to the technical effects of the above-mentioned first aspect and any implementation method of the first aspect.

[0060] The technical effects of the above-mentioned fourth aspect and any implementation method of the fourth aspect, as well as the technical effects of the sixth, eighth, tenth and twelfth aspects, can be understood by referring to the technical effects of the above-mentioned second aspect and any implementation method of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0062] FIG1A is a schematic structural diagram of a communication system provided in an embodiment of the present application;

[0063] FIG1B is another schematic structural diagram of a communication system provided in an embodiment of the present application;

[0064] FIG2A is a schematic diagram of a sensing target for a scenario provided by an embodiment of the present application;

[0065] FIG2B is a schematic diagram of point cloud data of the sensing target of FIG2A provided in an embodiment of the present application;

[0066] FIG2C is a schematic diagram of a facet model of the perception target of FIG2A provided in an embodiment of the present application;

[0067] FIG3 is a schematic diagram of an embodiment of a data processing method provided in an embodiment of the present application;

[0068] FIG4A is a schematic diagram of point cloud data of a sensing target provided by an embodiment of the present application;

[0069] 4B to 4D are schematic diagrams of surface element models corresponding to surface elements of different areas;

[0070] FIG5 is a schematic diagram of adjacent bins provided in an embodiment of the present application;

[0071] FIG6 is a schematic diagram of a scenario provided by an embodiment of the present application;

[0072] FIG7 is a schematic diagram of another scenario provided by an embodiment of the present application;

[0073] FIG8 is a schematic diagram of another scenario provided by an embodiment of the present application;

[0074] FIG9 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0075] FIG10 is another schematic structural diagram of a communication device provided in an embodiment of the present application;

[0076] FIG11 is another schematic structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0077] The present application provides a data processing method for reducing the amount of data transmitted by point cloud data. The present application also provides a corresponding apparatus, a computer-readable storage medium, and a computer program product. These are described in detail below.

[0078] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0079] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: satellite communication, fifth generation (5G) system or new radio (NR), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), mobile communication systems after 5G networks (for example, 6G mobile communication systems), vehicle to everything (V2X) communication systems, etc.

[0080] In addition to having stronger communication capabilities, the above-mentioned communication system also has perception capabilities. It is a communication system with integrated communication and perception. A communication system with integrated communication and perception means that the communication system can communicate through communication signals (communication signals can also be described as communication channels) and can also perform perception measurements through perception signals (perception signals can also be described as perception channels).

[0081] In this application, "perception" refers to the use of radio wave transmission, reflection, and scattering to perceive the surrounding environment and detect targets, such as sensing other vehicles or objects around them through sensing signals in the vehicle-to-everything (V2X) network. Of course, the communication system of this application can also be an industrial automation system or other communication system that involves perception.

[0082] FIG1A is a schematic structural diagram of a communication system provided in an embodiment of the present application.

[0083] As shown in Figure 1A, the communication system to which the present application applies includes a first device and at least one second device. The first device and the second device can be devices or chips (systems) in the devices. The first device can be an access network device, a terminal device, or a chip (system) therein, and the second device can be an access network device, a terminal device, or a chip (system) therein. The first device can have a central control function, and the second device can have a perception function, and can obtain point cloud data of the surrounding environment or building by sending perception signals.

[0084] In the communication system shown in FIG. 1A , taking the example that the first device is a network device and the second device is a terminal device, the structure of the communication system can be understood with reference to FIG. 1B .

[0085] As shown in Figure 1B, the communication system shown in Figure 1B includes a network device and a terminal device. The communication system includes one or more network devices and one or more terminal devices. In the communication system, multiple terminal devices can communicate with the network device.

[0086] The terminal device and network device of this application are introduced below.

[0087] The terminal device may be a wireless terminal device capable of receiving network device scheduling and instruction information. The wireless terminal device may be a device that provides voice and / or data connectivity to a user, or a handheld device with wireless connection function, or other processing device connected to a wireless modem.

[0088] Terminal devices, also known as user equipment (UE), mobile stations (MS), or mobile terminals (MT), are devices that include wireless communication capabilities (providing voice / data connectivity to users), such as handheld devices or in-vehicle devices with wireless connectivity. Currently, some examples of terminal devices include: mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in the Internet of Vehicles (IoV), wireless terminals in self-driving systems, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, and wireless terminals in smart homes. For example, wireless terminals in the IoV can be in-vehicle devices, complete vehicle equipment, in-vehicle modules, or vehicles. Wireless terminals in industrial control can be cameras, robots, etc. Wireless terminals in smart homes can be TVs, air conditioners, sweepers, speakers, set-top boxes, etc.

[0089] A network device can be a device in a wireless network. For example, a network device is a device deployed in a radio access network that provides wireless communication capabilities for terminal devices. For example, a network device can be a radio access network (RAN) node that connects a terminal device to a wireless network, and can also be referred to as an access network device.

[0090] The network equipment includes, but is not limited to, evolved Node B (eNB), radio network controller (RNC), Node B (NB), base station controller (BSC), base transceiver station (BTS), home base station (for example, home evolved NodeB, or home Node B, HNB), baseband unit (BBU), access point (AP) in wireless fidelity (WIFI) system, wireless relay node, wireless backhaul node, transmission point (TP) or transmission and reception point (TRP), etc., and can also be network equipment in 5G mobile communication system. For example, a next generation NodeB (gNB), a transmission reception point (TRP), or a transmission point (TP) in a new radio (NR) system; or one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G mobile communication system; or a network device can also be a network node constituting a gNB or a transmission point, such as a baseband unit (BBU) or a distributed unit (DU).

[0091] In some deployments, a gNB may include a centralized unit (CU) and a DU. The gNB may also include an active antenna unit (AAU). The CU implements some gNB functions, while the DU implements some gNB functions. For example, the CU is responsible for processing non-real-time protocols and services, implementing the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers. The DU is responsible for processing physical layer protocols and real-time services, implementing the functions of the radio link control (RLC), media access control (MAC), and physical (PHY) layers. The AAU implements some physical layer processing functions, RF processing, and active antenna-related functions. RRC layer information ultimately becomes PHY layer information, or is converted from PHY layer information. Therefore, in this architecture, higher-layer signaling (such as RRC layer signaling) can also be considered to be sent by the DU, or by both the DU and the AAU. It is understood that a network device can be a device that includes one or more of a CU node, a DU node, or an AAU node. In addition, the CU may be classified as a network device in an access network (radio access network, RAN), or may be classified as a network device in a core network (core network, CN), which is not limited in this application.

[0092] It should be noted that the network device in the embodiments of the present application may be an access network device. The first device may be an access network device, and the second device may be a terminal device. Alternatively, both the first device and the second device may be access network devices, or both the first device and the second device may be terminal devices.

[0093] The integrated communication and perception system provided in the embodiments of the present application can utilize network devices and terminal devices as perception nodes to acquire point cloud data of perceptual targets of interest (e.g., buildings) within a scene. The perception nodes then reconstruct the point cloud data into surface elements, enabling further perception applications. Reconstructing point cloud data into surface elements can be an important foundation for applications in wireless channel estimation, scene rendering, and digital twins.

[0094] The comparative diagrams of the point cloud data and the facet model of the perceived target can be understood by referring to Figures 2A to 2C. Figure 2A shows some buildings in the city, and Figure 2B shows the point cloud data of these buildings. The size of these point cloud data is 2.6 megabytes (MB). Figure 2C is the facet model reconstructed from the point cloud data. The size of the facet model is 113 kilobytes (KB). From the local magnification result 200 of a building surface on the facet model, it can be seen that the facet is a triangle. Compared with the point cloud data of Figure 2B, the facet is sparse, but it can still show the overall picture of the building. If you want to further reduce the byte size of the facet model, you can also increase the side length or area of ​​the facet to achieve it.

[0095] In this application, a "surface" refers to a closed-loop geometric figure composed of points and edges, such as the triangle in Figure 2C. Alternatively, a surface can be a quadrilateral or other polygon. Multiple surfaces can be connected to form a mesh. This mesh can be understood by referring to the magnified portion 200 in Figure 2C. Multiple triangular surface elements connected together form a mesh.

[0096] The embodiment of the present application can convert point cloud data into surface elements for transmission and storage. The specific process can be understood in conjunction with the following data processing method.

[0097] The data processing method provided in the embodiment of the present application can be understood by referring to FIG3 .

[0098] As shown in FIG3 , an embodiment of the data processing method provided in an embodiment of the present application may include:

[0099] 301. A first device sends a reconstruction instruction and a reconstruction quality requirement to at least one second device. Correspondingly, the second device receives the reconstruction instruction and the reconstruction quality requirement from the first device.

[0100] The reconstruction instruction is used to instruct to reconstruct the point cloud data of the perceived target surface into surface elements, and the reconstruction quality requirement is used to indicate the quality parameters of the reconstructed surface elements.

[0101] The quality parameter of the reconstructed surface element may be determined by the first device according to the reconstruction requirements (requirements for displaying details after reconstruction) of the perception target (eg, a building) in the actual scene.

[0102] 302. The second device reconstructs the target point cloud data into surface elements according to the reconstruction instructions and reconstruction quality requirements.

[0103] The target point cloud data may be surface point cloud data of the perception target acquired by the second device.

[0104] In the embodiments of the present application, the second device can obtain partial or complete point cloud data of the perception target. The point cloud data of the perception target obtained by the second device is related to the relative position or relative viewing angle between the second device and the perception target. Therefore, the point cloud data obtained by different second devices may be different or not completely the same. Each second device can reconstruct the obtained target point cloud data into multiple surface elements, or reconstruct it into a grid composed of multiple surface elements.

[0105] Optionally, the reconstruction quality requirement includes at least one of a single facet quality requirement and a neighborhood facet quality requirement; wherein the single facet quality requirement is used to indicate the size and shape of a single facet, and the neighborhood facet quality requirement is used to indicate the value range of the normal angle between adjacent faces with a common vertex.

[0106] The bin quality requirement may further include a global bin quality requirement, which is used to indicate the proportion of target bins that should be included in the bins of each second device, where the target bins are bins that meet the single bin quality requirement and / or the neighborhood bin quality requirement.

[0107] Parameters related to the above-mentioned single bin quality requirements, neighborhood bin quality requirements, and global bin quality requirements may include the following:

[0108] 1. Single facet quality requirements: Single facet quality requirements include at least one of the side length value range, internal angle value range, and area value range of a single facet.

[0109] The range of side lengths of a single panel element may include the maximum value l that each side of the panel element may take. max and the minimum value l min , the range of internal angle values ​​can include the maximum value of the internal angle value in the panel element θ max and the minimum value θ min , the area value range can include the maximum area S max and minimum value S min That is, the range of the side length of a single face can be expressed as [l min , l max ], the range of interior angle values ​​can be expressed as [θ min ,θ max ], the area range can be expressed as [S min , S max ].

[0110] The above parameters of a single facet can affect the data size of the facet model. Taking the area as an example, as shown in Figures 4A to 4D, Figure 4A is the point cloud data of a perception target, and the data size of the point cloud data is 1003KB. When the area requirement of a single facet in the quality requirement is S<5 (the unit of S can be square meters m2 ), as shown in FIG4B , the data size of the point cloud data when reconstructed into a surfel model is 126 KB. When the area requirement for a single surfel in the single surfel quality requirement is S < 20, as shown in FIG4C , the data size of the point cloud data when reconstructed into a surfel model is 31 KB. When the area requirement for a single surfel in the single surfel quality requirement is S < 50, as shown in FIG4D , the data size of the point cloud data when reconstructed into a surfel model is 9 KB.

[0111] 2. Neighborhood face quality requirements: Neighborhood face quality requirements are used to indicate the range of normal angles between adjacent facets with a common vertex. The angle between adjacent facets is the angle between the face normals of two adjacent facets.

[0112] The range of the normal angle between adjacent facets can also be called the tolerance of the normal angle between adjacent facets. As shown in Figure 5, taking the adjacent facets 1 and 2 as an example, the normal of facet 1 is The normal of surface element 2 is Then the angle between the normals of these two elements can be expressed as The range of the angle between the normals of these two elements can be [ρ min ,ρ max ], where ρ min Represents the minimum value of the normal angle, ρ max Indicates the maximum value of the normal angle.

[0113] 3. Global bin quality requirement: The global bin quality requirement can be expressed by a probability P, that is, the proportion of bins in all bins reconstructed by the second device that meet the above-mentioned single bin quality requirement and neighborhood bin quality requirement.

[0114] 303. The second device sends a facet to the first device. Correspondingly, the first device receives the facet from the second device.

[0115] The second device may send a plurality of facets to the first device. In other words, the second device sends a grid composed of a plurality of facets to the first device.

[0116] The solution provided by the embodiment of the present application is that because the face elements are formed by specific vertices according to a certain topological connection relationship (wherein the specific vertices can be obtained through a reconstruction algorithm, and the specific vertices can be some points in the target point cloud data, or they can not be points in the target point cloud data), the grid composed of face elements has many fewer points and data than the target point cloud data, and the reconstructed face elements are constrained by the quality parameters of the reconstructed face elements, and can also meet the needs of actual scenarios. In this way, when the needs of actual scenarios are met, the second device sends face elements to the first device, which reduces the amount of data transmission compared to sending point cloud data, and also reduces the amount of data storage of the first device.

[0117] Furthermore, in the embodiments of the present application, the regularity of the grid composed of bins can be improved by setting individual bin quality, neighborhood bin quality requirements, and global bin quality requirements, thereby improving the consistency of bins in the subsequent stitching results. Furthermore, by configuring the individual bin quality requirements and neighborhood bin quality requirements, the second device can be prevented from reconstructing overly fine bins, reducing unnecessary computations.

[0118] Optionally, the above solution may further include step 304 after step 303 .

[0119] 304. When there are multiple second devices, the first device splices the facets of each second device into a facet model of the perceived target.

[0120] The stitching process may be that the first device stitches according to the coordinates of the points on each surface element.

[0121] After the first device receives a grid composed of facets sent from different second devices, it can splice the individual grids together to obtain a facet model of the perceived target, which is beneficial for the first device to make subsequent perception decisions based on the facet model, such as path planning in the Internet of Vehicles.

[0122] The contents described in Figures 3 to 5 above can be applied to the scenario shown in Figure 6. In the scenario shown in Figure 6, the first device is an access network device and the second device is a terminal device (Figure 6 uses only a car as an example). In the scenario shown in Figure 6, the first device determines the perception target and then selects a terminal device that can perceive the perception target as the second device, such as the three cars in Figure 6. The access network device then executes steps 301, 303, and 304 above, and each car executes steps 301, 302, and 303 above, thereby obtaining a facet model of the perception target.

[0123] The contents described in Figures 3 to 5 above can be applied to the scenario shown in Figure 7. In the scenario shown in Figure 7, the first device is an access network device and the second device is an access network device. In the scenario shown in Figure 7, the first device determines a sensing target and then determines the beam coverage range of other access network devices that can communicate with it. As can be seen from Figure 7, the access network devices that can communicate with the first device may include a second device 701, a second device 702, and a second device 703. Wherein, the beam of the second device 701 does not cover the sensing target, and the beams of the second device 702 and the second device 703 both cover part of the sensing target. In this case, the first device can select the second device 702 and the second device 703 to sense the sensing target. The first device then performs steps 301, 303, and 304 above, and the second device 702 and the second device 703 perform steps 301, 302, and 303 above, thereby obtaining a facet model of the sensing target. In an embodiment of the present application, the first device can select the second device that can cover the perception target according to the beam coverage range of each second device, thereby improving the accuracy of obtaining the facet of the perception target.

[0124] The contents described in Figures 3 to 5 above can be applied to the scenario shown in Figure 8. In the scenario shown in Figure 8, the first device is a terminal device and the second device is a terminal device. In the scenario shown in Figure 8, the first device determines the perception target, then obtains the location (path information) and capability information of the surrounding terminal devices, and then selects the terminal device for perception based on the location (path information) and capability information of the surrounding terminal devices. As shown in Figure 8, for example: the second device 801 does not have perception capability, the location of the second device 804 is far away from the perception target and is moving away from the perception target, and the other second devices 802, 803, 805 and 806 all have perception capabilities and can perceive the perception target. The first device can select the second device 802, 803, 805 and 806 to obtain the point cloud data of the perception target. Then, the first device performs steps 301, 303, and 304, and the second device 802, the second device 803, the second device 805, and the second device 806 perform steps 301, 302, and 303, thereby obtaining a facet model of the perceived target. In this embodiment of the present application, the first device selects a second device that can be used to perceive the target based on the location and capability information of each second device, thereby improving the accuracy of obtaining the facet of the perceived target.

[0125] The above describes the communication system and data processing method in the embodiments of the present application. The following describes the communication device provided in the embodiments of the present application. Please refer to Figure 9, which is a schematic diagram of the structure of the communication device in the embodiments of the present application. The communication device can be the first device or the second device described in the above embodiments. Communication device 900 can be used to perform the steps in the embodiments shown in Figures 3 to 8. For details, please refer to the relevant description of the above method embodiments.

[0126] The communication device 900 includes a transceiver module 901 and a processing module 902. The transceiver module 901 can implement corresponding communication functions, and the processing module 902 is used to process data. The transceiver module 901 can also be called a communication interface or a communication unit.

[0127] Optionally, the communication device 900 may further include a storage unit, which may be used to store instructions and / or data. The processing module 902 may read the instructions and / or data in the storage unit so that the communication device implements the aforementioned method embodiment.

[0128] The communication device 900 can be used to perform the actions described in the method embodiments above. The communication device 900 can be a terminal device / access network device or a component that can be configured in the terminal device / access network device. The transceiver module 901 is used to perform the reception-related operations described in the method embodiments above, and the processing module 902 is used to perform the processing-related operations described in the method embodiments above.

[0129] Optionally, the transceiver module 901 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the above method embodiment. The receiving module is used to perform the receiving operation in the above method embodiment.

[0130] It should be noted that the communication device 900 may include a sending module but not a receiving module. Alternatively, the communication device 900 may include a receiving module but not a sending module. The specific implementation depends on whether the above solution executed by the communication device 900 includes a sending action and a receiving action.

[0131] As an example, the communication device 900 is used to perform the actions in the embodiment shown in FIG3 above. When the communication device 900 is the first device,

[0132] The transceiver module 901 is used to send a reconstruction instruction and a reconstruction quality requirement to at least one second device, where the reconstruction instruction is used to instruct the point cloud data of the perceived target surface to be reconstructed into facets, and the reconstruction quality requirement is used to indicate the quality parameters of the reconstructed facets; and receive facets from each second device in the at least one second device; wherein the facets of each second device are obtained by each second device reconstructing its corresponding target point cloud data according to the quality parameters, and the target point cloud data are the surface point cloud data of the perceived target acquired by the corresponding second device.

[0133] The processing module 902 is used to, when there are multiple second devices, stitch the facets of each second device into a facet model of the perception target.

[0134] When the communication device 900 is the second device,

[0135] The transceiver module 901 is used to receive a reconstruction instruction and a reconstruction quality requirement from the first device. The reconstruction instruction is used to instruct the point cloud data of the perceived target surface to be reconstructed into surface elements, and the reconstruction quality requirement is used to indicate the quality parameters of the reconstructed surface elements.

[0136] The processing module 902 is used to reconstruct the target point cloud data into surface elements according to the reconstruction instruction and the reconstruction quality requirement. The target point cloud data is the surface point cloud data of the perception target acquired by the second device.

[0137] It should be understood that the specific process of each module executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0138] The processing module 902 in the above embodiment can be implemented by at least one processor or processor-related circuits. The transceiver module 901 can be implemented by a transceiver or transceiver-related circuits. The transceiver module 901 can also be referred to as a communication unit or communication interface. The storage unit can be implemented by at least one memory.

[0139] The present application also provides another communication device 1000. The communication device 1000 can be the first device or the second device described in the above embodiment. As shown in FIG10 , the communication device 1000 includes a processor 1010, which is coupled to a memory 1020. The memory 1020 is used to store computer programs or instructions and / or data. The processor 1010 is used to execute the computer programs or instructions and / or data stored in the memory 1020, so that the method in the above method embodiment is executed.

[0140] Optionally, the communication device 1000 includes one or more processors 1010.

[0141] Optionally, as shown in FIG10 , the communication device 1000 may further include a memory 1020 .

[0142] Optionally, the communication device 1000 may include one or more memories 1020 .

[0143] Optionally, the memory 1020 may be integrated with the processor 1010 or provided separately.

[0144] 10 , the communication device 1000 may further include a transceiver 1030 , which is configured to receive and / or transmit signals. For example, the processor 1010 is configured to control the transceiver 1030 to receive and / or transmit signals.

[0145] As a solution, the communication device 1000 is used to implement the operations in the above method embodiments.

[0146] For example, the processor 1010 is used to implement processing-related operations in the above method embodiments, and the transceiver 1030 is used to implement transmission-related operations in the above method embodiments.

[0147] The present application also provides a communication device 1000, which can be a terminal device / access network device or a chip in the terminal device / access network device. The communication device 1000 can be used to perform the operations in the above method embodiments.

[0148] When the communication device 1000 is a communication device, Figure 11 shows a simplified structural diagram of the communication device. As shown in Figure 11, the communication device includes a processor, a memory, and a transceiver, wherein the memory can store computer program code, and the transceiver includes a transmitter 1031, a receiver 1032, a radio frequency circuit (not shown in the figure), an antenna 1033, and an input / output device (not shown in the figure). The processor is mainly used to process communication protocols and communication data, as well as to control the communication device, execute software programs, process software program data, etc. The memory is mainly used to store software programs and data. The radio frequency circuit is mainly used to convert baseband signals into radio frequency signals and process radio frequency signals. The antenna is mainly used to transmit and receive radio frequency signals in the form of electromagnetic waves. Input / output devices, such as a touch screen, a display screen, a keyboard, etc., are mainly used to receive data input by the user and output data to the user. It should be noted that some types of communication devices may not have input / output devices.

[0149] When data needs to be sent, the processor performs baseband processing on the data to be sent, and then outputs the baseband signal to the RF circuit. The RF circuit performs RF processing on the baseband signal and then sends the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data. For ease of explanation, Figure 11 only shows one memory, processor, and transceiver. In an actual communication device product, there may be one or more processors and one or more memories. The memory may also be referred to as a storage medium or a storage device, etc. The memory may be set independently of the processor or integrated with the processor, and this is not limited in the embodiments of the present application.

[0150] In the embodiment of the present application, the antenna and the radio frequency circuit with transceiver functions can be regarded as the transceiver unit of the communication device, and the processor with processing function can be regarded as the processing unit of the communication device.

[0151] As shown in Figure 11, the communication device includes a processor 1010, a memory 1020, and a transceiver 1030. The processor 1010 may also be referred to as a processing unit, a processing board, a processing module, a processing device, etc., and the transceiver 1030 may also be referred to as a transceiver unit, a transceiver, a transceiver device, etc.

[0152] Alternatively, the device in transceiver 1030 that implements the receiving function may be considered a receiving unit, and the device in transceiver 1030 that implements the transmitting function may be considered a transmitting unit. That is, transceiver 1030 includes a receiver and a transmitter. A transceiver may also be sometimes referred to as a transceiver, a transceiver unit, or a transceiver circuit. A receiver may also be sometimes referred to as a receiver, a receiving unit, or a receiving circuit. A transmitter may also be sometimes referred to as a transmitter, a transmitting unit, or a transmitting circuit.

[0153] For example, in one implementation, the processor 1010 is configured to perform the processing actions in the embodiment shown in FIG3 , and the transceiver 1030 is configured to perform the transceiver actions in FIG3 . For example, the transceiver 1030 is configured to perform the transceiver operation in step 301 in the embodiment shown in FIG3 . The processor 1010 is configured to perform the processing operation in step 302 in the embodiment shown in FIG3 .

[0154] It should be understood that FIG11 is merely an example and not a limitation, and the above-mentioned communication device including the transceiver unit and the processing unit may not rely on the structure shown in FIG11.

[0155] When the communication device 1000 is a chip, the chip includes a processor, memory, and a transceiver. The transceiver can be an input / output circuit or a communication interface; the processor can be a processing unit, microprocessor, or integrated circuit integrated on the chip. The transmission operation of the communication device in the above method embodiment can be understood as the chip's output, and the reception operation of the communication device in the above method embodiment can be understood as the chip's input.

[0156] An embodiment of the present application also provides a computer-readable storage medium on which computer instructions for implementing the method in the above method embodiment are stored.

[0157] For example, when the computer program is executed by a computer, the computer can implement the method performed in the above method embodiment.

[0158] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed by a computer, enables the computer to implement the method performed in the above method embodiment.

[0159] An embodiment of the present application also provides a communication system, which includes the access network device and terminal device in the above embodiment.

[0160] An embodiment of the present application further provides a chip device, including a processor, configured to call a computer program or computer instruction stored in the memory so that the processor executes the method of the embodiments shown in FIG. 3 to FIG. 8 .

[0161] In a possible implementation, the input of the chip device corresponds to the receiving operation in the embodiments shown in FIG. 3 to FIG. 8 , and the output of the chip device corresponds to the sending operation in the embodiments shown in FIG. 3 to FIG. 8 .

[0162] Optionally, the processor is coupled to the memory via an interface.

[0163] Optionally, the chip device further includes a memory, in which a computer program or computer instructions are stored.

[0164] The processor mentioned in any of the above may be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the method of the embodiments shown in Figures 3 to 8. The memory mentioned in any of the above may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), etc.

[0165] Those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the explanation and beneficial effects of the relevant contents in any of the communication devices provided above can refer to the corresponding method embodiments provided above, and will not be repeated here.

[0166] In an embodiment of the present application, a terminal device or access network device may include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer may include hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also known as main memory). The operating system of the operating system layer may be any one or more computer operating systems that implement service processing through processes, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a Windows operating system. The application layer may include applications such as browsers, address books, word processing software, and instant messaging software.

[0167] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0168] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0169] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0170] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0171] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the part that essentially contributes to the technical solution of the present application or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or an access network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.

Claims

1. A method for data processing, characterized in that: include: The first device sends a reconstruction instruction and a reconstruction quality requirement to at least one second device, wherein the reconstruction instruction is used to instruct to reconstruct the point cloud data of the perceived target surface into surface elements, and the reconstruction quality requirement is used to indicate a quality parameter of the reconstructed surface elements; The first device receives face elements from each of the at least one second device; wherein the face elements of each second device are obtained by reconstructing the corresponding target point cloud data according to the quality parameters by each second device, and the target point cloud data are surface point cloud data of the perceived target acquired by the corresponding second device.

2. The method according to claim 1, characterized in that: When there are multiple second devices, the method further includes: The first device stitches the facets of each second device into a facet model of the perceived target.

3. The method according to claim 1 or 2, characterized in that: The reconstruction quality requirement includes at least one of a single facet quality requirement and a neighborhood facet quality requirement; wherein the single facet quality requirement is used to indicate the size and shape of a single facet, and the neighborhood facet quality requirement is used to indicate the value range of the normal angle between adjacent faces having a common vertex.

4. The method according to claim 3, characterized in that The facet quality requirement also includes a global facet quality requirement, and the global facet quality requirement is used to indicate the proportion of target facets that should be included in the facets of each second device, and the target facets are facets that meet the single facet quality requirement and / or the neighborhood facet quality requirement.

5. The method according to claim 3 or 4, characterized in that: The single facet quality requirement includes at least one of a side length value range, an inner angle value range, and an area value range of the single facet.

6. The method according to any one of claims 1 to 5, characterized in that: When both the first device and the second device are access network devices, the method further includes: The first device determines the at least one second device according to the beam coverage of each second device among the multiple second devices, and the beam coverage of each second device among the at least one second device includes part or all of the perception target.

7. The method according to any one of claims 1 to 5, characterized in that: When both the first device and the second device are terminal devices, the method further includes: The first device determines the at least one second device based on the position and capability information of each second device among the multiple second devices, each of the at least one second device has perception capability and is located at a position that can acquire partial or all point cloud data of the perception target.

8. A method of data processing, characterized in that: include: The second device receives a reconstruction instruction and a reconstruction quality requirement from the first device, wherein the reconstruction instruction is used to instruct to reconstruct the point cloud data of the perceived target surface into surface elements, and the reconstruction quality requirement is used to indicate a quality parameter of the reconstructed surface elements; The second device reconstructs the target point cloud data into surface elements according to the reconstruction instruction and the reconstruction quality requirement, wherein the target point cloud data is the surface point cloud data of the sensed target acquired by the second device; The second device sends a facet to the first device.

9. The method according to claim 8, characterized in that The reconstruction quality requirement includes at least one of a single facet quality requirement and a neighborhood facet quality requirement; wherein the single facet quality requirement is used to indicate the size and shape of a single facet, and the neighborhood facet quality requirement is used to indicate the value range of the normal angle between adjacent faces having a common vertex.

10. The method according to claim 9, characterized in that The facet quality requirement also includes a global facet quality requirement, and the global facet quality requirement is used to indicate the proportion of target facets that should be included in the facets of each second device, and the target facets are facets that meet the single facet quality requirement and / or the neighborhood facet quality requirement.

11. The method according to claim 9 or 10, characterized in that: The single facet quality requirement includes at least one of a side length value range, an inner angle value range, and an area value range of the single facet.

12. The method according to any one of claims 9 to 11, characterized in that: The angle between adjacent face elements is the angle between face element normals of two adjacent face elements.

13. A communication device, characterized in that: include: Transceiver module and processing module, The transceiver module is used to perform the sending step or the receiving step in the method described in any one of claims 1 to 7 above; The processing module is used to execute the steps except the sending step and the receiving step in the method described in any one of claims 1 to 7.

14. A communication device, characterized in that: include: Transceiver module and processing module, The transceiver module is used to perform the sending step or the receiving step in the method described in any one of claims 8 to 12 above; The processing module is used to execute the steps except the sending step and the receiving step in the method described in any one of claims 8 to 12.

15. A communication device, characterized in that: comprising at least one processor coupled to the memory; The memory is used to store programs or instructions; The at least one processor is configured to execute the program or instruction so that the apparatus implements the method according to any one of claims 1 to 7.

16. A communication device, characterized in that: comprising at least one processor coupled to the memory; The memory is used to store programs or instructions; The at least one processor is configured to execute the program or instruction so that the apparatus implements the method according to any one of claims 8 to 12.

17. A computer program product comprising program instructions, characterized in that When the program instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 12.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program instructions, and when the program instructions are executed, the method according to any one of claims 1 to 12 is executed.

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