Visual sensing for positioning

Abstract

This disclosure provides systems, methods, and devices for wireless communication that support visual sensing for positioning. In a first aspect, a method of wireless communication includes receiving a first image of an object from an image capture device. The method also includes receiving location information including a coordinate point, a location of the UE determined based on the coordinate point, or a combination thereof. The coordinate point is generated based on: a relative orientation between the UE and a network entity; and a matched pair of points comprising a first point of the first image and a second point of a second image of the object captured by the network entity. Other aspects and features are also claimed and described.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the benefit of U.S. Patent Application No. 18 / 065,279, filed on Dec. 13, 2022, entitled "VISUAL SENSING FOR POSITIONING", which is hereby incorporated by reference in its entirety. Technical Field

[0003] Aspects of the present disclosure generally relate to wireless communication systems, and more particularly to visual sensing for positioning (such as non - line - of - sight positioning). Some features may enable and provide improved communication or positioning, including reduced control overhead, efficient resource utilization, or a combination thereof. Background Art

[0004] Wireless communication networks are widely deployed to provide various communication services such as voice, video, packet data, messaging, broadcasting, etc. These wireless networks can be multi - access networks capable of supporting multiple users by sharing available network resources. Such networks can be multi - access networks that support communication for multiple users by sharing available network resources.

[0005] A wireless communication network may include several components. These components may include wireless communication devices, such as a base station (or Node B) that can support communication for multiple user equipments (UEs). A UE can communicate with the base station via a downlink and an uplink. The downlink (or forward link) refers to the communication link from the base station to the UE, and the uplink (or reverse link) refers to the communication link from the UE to the base station.

[0006] The base station may send data and control information to the UE on the downlink, or receive data and control information from the UE on the uplink. On the downlink, the transmission from the base station may encounter interference due to transmissions from neighboring base stations or other radio frequency (RF) transmitters. On the uplink, the transmission from the UE may encounter interference from other UEs communicating with neighboring base stations or from uplink transmissions of other radio RF transmitters. Such interference may degrade the performance on both the downlink and the uplink.

[0007] Due to the continuous growth in the demand for mobile broadband access, with more UEs accessing remote wireless communication networks and more short - range wireless systems deployed in the community, the likelihood of interference and congested networks is also increasing. Research and development continue to advance wireless technologies to not only meet the growing demand for mobile broadband access but also enhance and improve the user experience of mobile communication.

[0008] Multiple devices of a wireless communication system are operable to enable performance of positioning operations among the multiple devices. These positioning operations can enable at least one of the multiple devices to determine a direction towards another device, a distance to the other device, or an estimated location of the at least one device. Additionally, these positioning operations can also enable the at least one device to determine an absolute location of the at least one device or the other device. However, as devices continue to improve and become "more powerful", the network and the devices of the network can experience increased network congestion, overhead, and interference associated with determining positioning information of devices within the network. For example, the accuracy and effectiveness of positioning operations can be affected by interference such as physical objects that obstruct the line of sight between two devices. SUMMARY OF THE DISCLOSURE

[0009] Some aspects of the present disclosure are summarized below to provide a basic understanding of the technologies being discussed. This summary is not an exhaustive overview of all the expected features of the present disclosure and is neither intended to identify key or important elements of all aspects of the present disclosure nor to delineate the scope of any or all aspects of the present disclosure. The sole purpose of the summary is to present some concepts of one or more aspects of the present disclosure in a general form as a prelude to the more detailed embodiments that are presented later.

[0010] In one aspect of the present disclosure, a method for wireless communication is performed by a user equipment (UE). The method includes: receiving a first image of an object from an image capture device. The method further includes: receiving position information that includes a coordinate point, a positioning of the UE determined based on the coordinate point, or a combination thereof. The coordinate point is generated based on: a relative orientation between the UE and a network entity; and a matched point pair that includes a first point of the first image and a second point of a second image of the object captured by the network entity.

[0011] In an additional aspect of the present disclosure, an apparatus includes at least one processor and a memory coupled to the at least one processor. The at least one processor is configured to: receive a first image of an object from an image capture device. The at least one processor is further configured to: receive position information that includes a coordinate point, a positioning of the UE determined based on the coordinate point, or a combination thereof. The coordinate point is generated based on: a relative orientation between the UE and a network entity; and a matched point pair that includes a first point of the first image and a second point of a second image of the object captured by the network entity.

[0012] In an additional aspect of the present disclosure, an apparatus includes means for receiving a first image of an object from an image capture device. The apparatus further includes means for receiving location information, the location information including a coordinate point, a positioning of the UE determined based on the coordinate point, or a combination thereof. The coordinate point is generated based on: a relative orientation between the UE and a network entity; and a matching pair of points, the matching pair of points including a first point of the first image and a second point of a second image of the object captured by the network entity.

[0013] In an additional aspect of the present disclosure, a non-transitory computer-readable medium stores instructions that, when executed by a processor, cause the processor to perform operations. The operations include: receiving a first image of an object from an image capture device. The operations further include: receiving location information, the location information including a coordinate point, a positioning of the UE determined based on the coordinate point, or a combination thereof. The coordinate point is generated based on: a relative orientation between the UE and a network entity; and a matching pair of points, the matching pair of points including a first point of the first image and a second point of a second image of the object captured by the network entity.

[0014] In one aspect of the present disclosure, a method for wireless communication is performed by a network node. The method includes: generating a coordinate point based on: a relative orientation between a UE and a network entity; and a matching pair of image points, the matching pair of image points including a first point of a first image of an object captured by the UE and a second point of a second image of the object captured by the network entity. The method further includes: sending location information to the UE. The location information indicates the coordinate point, a positioning of the UE determined based on the coordinate point, or a combination thereof.

[0015] In an additional aspect of the present disclosure, an apparatus includes at least one processor and a memory coupled to the at least one processor. The at least one processor is configured to: generate a coordinate point based on: a relative orientation between a UE and a network entity; and a matching pair of image points, the matching pair of image points including a first point of a first image of an object captured by the UE and a second point of a second image of the object captured by the network entity. The at least one processor is further configured to: send location information to the UE. The location information indicates the coordinate point, a positioning of the UE determined based on the coordinate point, or a combination thereof.

[0016] In an additional aspect of the present disclosure, an apparatus includes means for generating coordinate points based on: a relative orientation between a UE and a network entity; and a matching pair of image points, the matching pair of image points including a first point of a first image of an object captured by the UE and a second point of a second image of the object captured by the network entity. The apparatus further includes means for sending location information to the UE. The location information indicates the coordinate points, a positioning of the UE determined based on the coordinate points, or a combination thereof.

[0017] In an additional aspect of the present disclosure, a non-transitory computer-readable medium stores instructions that, when executed by a processor, cause the processor to perform operations. The operations include: generating coordinate points based on: a relative orientation between a UE and a network entity; and a matching pair of image points, the matching pair of image points including a first point of a first image of an object captured by the UE and a second point of a second image of the object captured by the network entity. The operations further include: sending location information to the UE. The location information indicates the coordinate points, a positioning of the UE determined based on the coordinate points, or a combination thereof.

[0018] The features and technical advantages of examples in accordance with the present disclosure have been outlined rather broadly above so that the detailed description that follows may be better understood. Additional features and advantages will be described hereinafter. The disclosed concepts and specific examples may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present disclosure. Such equivalent constructions do not depart from the scope of the appended claims. The characteristics of the concepts disclosed herein (both their organization and method of operation) as well as the associated advantages will be better understood when considered in conjunction with the accompanying drawings. Each of the drawings provided is for purposes of illustration and description and not as a definition of the limits of the claims.

[0019] Although aspects and specific implementations are described herein by way of some examples, those skilled in the art will understand that additional specific implementations and use cases may arise in many different arrangements and scenarios. The innovations described herein can be implemented across many different platform types, devices, systems, shapes, sizes, packaging arrangements. For example, aspects and / or uses can be implemented via integrated chips and other non-module component-based devices (e.g., end-user devices, vehicles, communication devices, computing devices, industrial equipment, retail / purchase devices, medical devices, artificial intelligence (AI)-enabled devices, etc.). Although some examples may or may not specifically refer to use cases or applications, applicability of various types of the described innovations may occur. The scope of specific implementations can range from chip-level or module components to non-module, non-chip-level implementations and further to aggregated, distributed, or original equipment manufacturer (OEM) devices or systems incorporating one or more aspects of the described innovations. In some practical environments, devices incorporating the described aspects and features may also necessarily include additional components and features for implementing and practicing the claimed and described aspects. For example, the transmission and reception of wireless signals necessarily includes multiple components for analog and digital purposes (e.g., hardware components including antennas, radio frequency (RF) chains, power amplifiers, modulators, buffers, processors, interleavers, adders / summers, etc.). The innovations described herein are intended to be practiced in a variety of devices, chip-level components, systems, distributed arrangements, end-user devices, etc. having different sizes, shapes, and configurations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] A further understanding of the nature and advantages of the present disclosure can be realized by reference to the following drawings. In the drawings, like components or features may have the same reference label. Additionally, various components of the same type can be distinguished by adding a dash and a second label used to differentiate between similar components after the reference label. If only the first reference label is used in the specification, the description applies to any one of the similar components having the same first reference label, regardless of the second reference label.

[0021] Figure 1 is a block diagram illustrating details of an example wireless communication system in accordance with one or more aspects.

[0022] Figure 2 is a block diagram illustrating examples of a base station and a user equipment (UE) in accordance with one or more aspects.

[0023] Figure 3 is a block diagram illustrating an example wireless communication system supporting visual sensing for positioning in accordance with one or more aspects.

[0024] Figure 4An example of a system that supports visual sensing for positioning according to one or more aspects.

[0025] Figure 5 A ladder diagram that illustrates an example of visual sensing for positioning according to one or more aspects.

[0026] Figure 6 A ladder diagram that illustrates another example of visual sensing for positioning according to one or more aspects.

[0027] Figure 7 A ladder diagram that illustrates another example of visual sensing for positioning according to one or more aspects.

[0028] Figure 8 A ladder diagram that illustrates another example of visual sensing for positioning according to one or more aspects.

[0029] Figure 9 A flowchart that illustrates an example process that supports visual sensing for positioning according to one or more aspects.

[0030] Figure 10 A block diagram of an example UE that supports visual sensing for positioning according to one or more aspects.

[0031] Figure 11 A flowchart that illustrates an example process that supports visual sensing for positioning according to one or more aspects.

[0032] Figure 12 A block diagram of an example base station that supports visual sensing for positioning according to one or more aspects.

[0033] The same reference numerals and names in the various figures indicate the same elements. Detailed Description

[0034] The detailed description set forth below in connection with the appended drawings is intended as a description of various configurations and is not intended to limit the scope of the present disclosure. On the contrary, the detailed description includes specific details for providing a thorough understanding of the subject matter of the present invention. It will be apparent to those skilled in the art that these specific details are not required in every instance and that in some instances, well-known structures and components are shown in block diagram form for the sake of clarity of presentation.

[0035] The present disclosure provides systems, apparatuses, methods, and computer-readable media that support visual sensing for positioning. For example, the present disclosure describes visual features obtained in connection with two devices that are used to determine the positioning of at least one of the devices. For example, the two devices may include a user equipment (UE) and a base station, and there may be no line of sight between the UE and the base station. The UE and the base station may each include a camera and may exchange visual features of each device to identify one or more pairs of points of a first image (of an object) captured by the UE and a second image (of an object) captured by the base station. The relative orientation between the UE and the base station may be determined based on the one or more pairs of points. A coordinate point (such as a virtual access three-dimensional (3D) point) that is common to both the UE and the base station may be determined, and the coordinate point may be determined based on the relative orientation, one or more visual features of the UE, one or more visual features of the base station, or a combination thereof. By way of illustration, the coordinate point may correspond to a reflection point, such as a reflection point of an object in the field of view of each of the UE and the base station. In some implementations, the coordinate point is determined by a network entity (such as a base station, a core network, or a location management function (LMF)) and provided to the UE so that the UE can position itself (e.g., perform positioning) based on the coordinate point. For example, the UE may use the coordinate point as a virtual anchor point. In other implementations, the coordinate point is determined by a network entity, and the network entity and a network entity (such as a base station or an LMF) perform the positioning of the UE based on the coordinate point. To perform the positioning of the UE at the network entity, the network entity may receive a channel impulse response (e.g., time delay, angle of arrival (AoA) of multiple received paths, etc.) from the UE based on a positioning reference signal. In addition to the above implementations, the base station or the UE may adjust one or more beams, such as an angle of arrival (AoA) or an angle of departure (AoD), based on the coordinate point.

[0036] Certain implementations of the subject matter described in the present disclosure may be implemented to realize one or more of the following potential advantages or benefits. In some aspects, the present disclosure provides techniques for supporting visual sensing for positioning. The techniques described may enable the determination of the positioning of a UE when there is no line of sight between the UE and the base station. Additionally, the techniques may enable the base station or the UE to adjust one or more beams to improve the transmission or reception of reflected signals and thus compensate for interference or occlusion. Additionally, by using the image capture device of the UE to determine a coordinate point (e.g., a virtual access point), the UE may be able to determine its positioning based on only one base station (e.g., a true access point).

[0037] The present disclosure generally relates to providing or participating in authorized shared access between two or more wireless devices in one or more wireless communication systems (also referred to as wireless communication networks). In various specific implementations, the techniques and apparatuses may be used in wireless communication networks such as code division multiple access (CDMA) networks, time division multiple access (TDMA) networks, frequency division multiple access (FDMA) networks, orthogonal FDMA (OFDMA) networks, single carrier FDMA (SC-FDMA) networks, LTE networks, GSM networks, fifth generation (5G) or new radio (NR) networks (sometimes referred to as "5G NR" networks, systems, or devices), and other communication networks. As described herein, the terms "network" and "system" may be used interchangeably.

[0038] CDMA networks may implement radio technologies such as Universal Terrestrial Radio Access (UTRA), cdma2000, etc. UTRA includes Wideband CDMA (W-CDMA) and Low Chip Rate (LCR). CDMA2000 covers the IS-2000, IS-95, and IS-856 standards.

[0039] For example, TDMA networks may implement radio technologies such as Global System for Mobile Communications (GSM). The Third Generation Partnership Project (3GPP) defines the standards for the GSM EDGE (Enhanced Data Rate for GSM Evolution) Radio Access Network (RAN) (also known as GERAN). GERAN is the radio component of the network of GSM / EDGE together with the connecting base stations (such as the Ater and Abis interfaces) and the base station controller (A interface, etc.). The radio access network represents the component of the GSM network through which telephone calls and packet data are routed from the Public Switched Telephone Network (PSTN) and the Internet to the subscriber mobile phone (also known as the user terminal or user equipment (UE)) and from the subscriber mobile phone to the PSTN and the Internet. The network of a mobile phone operator may include one or more GERANs, which may be coupled to the UTRAN in the case of a UMTS / GSM network. Additionally, the operator network may also include one or more LTE networks, or one or more other networks. Various different network types may use different radio access technologies (RATs) and RANs.

[0040] OFDMA networks can implement radio technologies such as evolved UTRA (E-UTRA), Institute of Electrical and Electronics Engineers (IEEE) 802.11, IEEE 802.16, IEEE 802.20, flash-OFDM, etc. UTRA, E-UTRA, and GSM are part of the Universal Mobile Telecommunications System (UMTS). Specifically, Long Term Evolution (LTE) is a UMTS version that uses E-UTRA. UTRA, E-UTRA, GSM, UMTS, and LTE are described in documents provided by an organization called the "3rd Generation Partnership Project" (3GPP), and cdma2000 is described in documents from an organization called the "3rd Generation Partnership Project 2" (3GPP2). These various radio technologies and standards are known or under development. For example, 3GPP is a cooperation among telecommunications association groups aimed at defining globally applicable third-generation (3G) mobile phone specifications. 3GPP LTE is a 3GPP plan aimed at improving the UMTS mobile phone standard. 3GPP can define specifications for next-generation mobile networks, mobile systems, and mobile devices. Certain aspects of the present disclosure may be described with reference to LTE, 4G, or 5G NR technologies; however, the description is not intended to be limited to a specific technology or application, and one or more aspects described with reference to one technology may be understood to apply to another technology. Additionally, one or more aspects of the present disclosure may relate to shared access to the radio spectrum between networks using different radio access technologies or radio air interfaces.

[0041] 5G networks are expected to have diverse deployments, diverse spectrums, and diverse services and devices that can be implemented using an OFDM-based unified air interface. To achieve these goals, in addition to developing new radio technologies for 5G NR networks, further enhancements to LTE and LTE-A are also considered. 5G NR will be able to scale to provide coverage (1) for massive Internet of Things (IoT) with ultra-high density (e.g., about 1M nodes / km 2 ), ultra-low complexity (e.g., about 10s bits / sec), ultra-low power consumption (e.g., about 10+ year battery life), and deep coverage with the ability to reach challenging locations; (2) including mission-critical control with strong security to protect sensitive personal, financial, or classified information, ultra-high reliability (e.g., about 99.9999% reliability), ultra-low latency (e.g., about 1 millisecond (ms)), and users with a wide range of mobility or lack of mobility; and (3) providing coverage with enhanced mobile broadband (including extremely high capacity (e.g., about 10 Tbps / km 2 ), extremely high data rates (e.g., multi-Gbps rates, 100+ Mbps user experience rate), and deep awareness with advanced discovery and optimization).

[0042] Devices, networks, and systems can be configured to communicate via one or more portions of the electromagnetic spectrum. The electromagnetic spectrum is typically subdivided into various categories, bands, channels, etc. based on frequency / wavelength. In 5G NR, two initial operating bands have been identified as Frequency Range Designation FR1 (410 MHz - 7.125 GHz) and FR2 (24.25 GHz - 52.6 GHz). The frequencies between FR1 and FR2 are generally referred to as mid-band frequencies. Although a portion of FR1 is greater than 6 GHz, in various documents and articles, FR1 is typically (interchangeably) referred to as the "sub-6 GHz" band. Similar naming issues sometimes arise for FR2, where in documents and articles, FR2 is typically (interchangeably) referred to as the "millimeter wave" (mmWave) band, although it is different from the extremely high frequency (EHF) band (30 GHz - 300 GHz) identified by the International Telecommunication Union (ITU) as the "mmWave" band.

[0043] Taking the above aspects into consideration, unless otherwise specifically stated, it should be understood that if used herein, terms such as "sub-6 GHz" can generally represent frequencies that can be less than 6 GHz, can be within FR1, or can include mid-band frequencies. Additionally, unless otherwise specifically stated, it should be understood that if used herein, terms such as "mmWave" can broadly represent frequencies that can include mid-band frequencies, can be within FR2, or can be within the EHF band.

[0044] 5G NR devices, networks, and systems can be implemented to use waveform features based on optimized OFDM. These features can include scalable parameter sets and transmission time intervals (TTIs); a common flexible framework for efficiently multiplexing services and features using dynamic, low-latency time-division duplex (TDD) designs or frequency-division duplex (FDD) designs; and advanced wireless technologies such as massive multiple-input multiple-output (MIMO), robust mmWave transmission, advanced channel decoding, and device-centric mobility. The scalability of parameter sets in 5G NR and the scaling of subcarrier spacing can efficiently address the operation of various services across different spectrums and different deployments. For example, in various outdoor and macro coverage deployments with FDD or TDD below 3 GHz, the subcarrier spacing may occur at 15 kHz, such as over bandwidths of 1 MHz, 5 MHz, 10 MHz, 20 MHz, etc. For other various outdoor and small cell coverage deployments with TDD above 3 GHz, the subcarrier spacing may occur at 30 kHz over an 80 MHz / 100 MHz bandwidth. For other various indoor broadband implementations, using TDD in the unlicensed portion of the 5 GHz band, the subcarrier spacing may occur at 60 kHz over a 160 MHz bandwidth. Finally, for various deployments with transmission via mmWave components under TDD at 28 GHz, the subcarrier spacing can occur at 120 kHz over a 500 MHz bandwidth.

[0045] The scalable parameter sets of 5G NR facilitate scalable TTIs for diverse latency and quality of service (QoS) requirements. For example, shorter TTIs can be used for low latency and high reliability, while longer TTIs can be used for higher spectral efficiency. The efficient multiplexing of long and short TTIs allows transmissions to start at symbol boundaries. 5G NR also anticipates self-contained integrated subframe designs, where uplink or downlink scheduling information, data, and acknowledgments are located in the same subframe. Self-contained integrated subframes support communication in unlicensed or contention-based shared spectrums, and adaptive uplink or downlink can be flexibly configured on a per-cell basis to dynamically switch between uplink and downlink to meet current traffic demands.

[0046] For clarity, certain aspects of the devices and technologies may be described below with reference to example 5G NR implementations or in a 5G-centric manner, and 5G terminology may be used as illustrative examples in parts of the description below; however, the description is not intended to be limited to 5G applications.

[0047] In addition, it should be understood that in operation, a wireless communication network adapted according to the concepts herein can operate using any combination of licensed or unlicensed spectrum depending on load and availability. Thus, it will be apparent to those of ordinary skill in the art that the systems, apparatuses, and methods described herein can be applied to other communication systems and applications beyond the specific examples provided.

[0048] While aspects and specific implementations are described in this application by way of illustration of some examples, those skilled in the art will understand that additional specific implementations and use cases may arise in many different arrangements and scenarios. The innovations described herein can be implemented across many different platform types, devices, systems, shapes, sizes, packaging arrangements. For example, a specific implementation or use can be implemented via an integrated chip implementation or other non-module component-based devices (e.g., end-user devices, vehicles, communication devices, computing devices, industrial equipment, retail or point-of-purchase devices, medical devices, AI-enabled devices, etc.). While some examples may or may not specifically point to use cases or applications, applicability of various types of the described innovations can occur. The scope of specific implementations can range from chip-level or modular components to non-modular, non-chip-level implementations and further to aggregated, distributed, or original equipment manufacturer (OEM) devices or systems that incorporate one or more of the described aspects. In some practical environments, devices that incorporate the described aspects and features may also necessarily include additional components and features for implementing and practicing the claimed and described aspects. It is intended that the innovations described herein be implemented in a wide variety of specific implementations of different sizes, shapes, and configurations, including both large and small devices, chip-level components, multi-component systems (e.g., radio frequency (RF) chains, communication interfaces, processors), distributed arrangements, end-user devices, etc.

[0049] Figure 1 is a block diagram illustrating details of an example wireless communication system according to one or more aspects. The wireless communication system can include a wireless network 100. The wireless network 100 can include, for example, a 5G wireless network. As recognized by those skilled in the art, Figure 1 the components that appear in are likely to have related corresponding components in other network arrangements, including, for example, cellular-style network arrangements as well as non-cellular-style network arrangements (e.g., device-to-device or peer-to-peer or ad-hoc network arrangements, etc.).

[0050] Figure 1The illustrated wireless network 100 includes a number of base stations 105 and other network entities. A base station can be a station that communicates with a UE and can also be referred to as an evolved Node B (eNB), a next-generation eNB (gNB), an access point, etc. Each base station 105 provides communication coverage for a specific geographical area. In 3GPP, the term "cell" can refer to the specific geographical coverage area of a base station or the base station subsystem serving that coverage area, depending on the context in which the term is used. In a particular implementation of the wireless network 100 herein, the base stations 105 can be associated with the same operator or different operators (e.g., the wireless network 100 can include multiple operator wireless networks). Additionally, in a particular implementation of the wireless network 100 herein, the base stations 105 can use one or more frequencies in the same frequency as an adjacent cell (e.g., one or more frequency bands in licensed spectrum, unlicensed spectrum, or a combination thereof) to provide wireless communication. In some examples, a separate base station 105 or UE 115 can be operated by more than one network operation entity. In some other examples, each base station 105 and UE 115 can be operated by a single network operation entity.

[0051] A base station can provide communication coverage for a macro cell or a small cell (e.g., a pico cell or a femto cell) or other types of cells. A macro cell generally covers a relatively large geographical area (e.g., with a radius of several kilometers) and can allow unrestricted access by UEs having a service subscription with the network provider. A small cell (such as a pico cell) generally covers a relatively small geographical area and can allow unrestricted access by UEs having a service subscription with the network provider. A small cell (such as a femto cell) generally also covers a relatively small geographical area (e.g., a home) and can provide restricted access by UEs associated with the femto cell (e.g., UEs in a closed subscriber group (CSG), UEs of users in a home, etc.) in addition to unrestricted access. A base station for a macro cell can be referred to as a macro base station. A base station for a small cell can be referred to as a small cell base station, a pico base station, a femto base station, or a home base station. In Figure 1 the example shown, base stations 105d and 105e are conventional macro base stations, while base stations 105a - 105c are macro base stations implemented using one of 3-dimensional (3D), full-dimensional (FD), or massive MIMO. Base stations 105a - 105c utilize their higher-dimensional MIMO capabilities to employ 3D beamforming in elevation and azimuth beamforming to increase coverage and capacity. Base station 105f is a small cell base station, which can be a home node or a portable access point. A base station can support one or more (e.g., two, three, four, etc.) cells.

[0052] Wireless network 100 may support synchronous or asynchronous operations. For synchronous operations, the base stations may have similar frame timings, and transmissions from different base stations may be approximately aligned in time. For asynchronous operations, the base stations may have different frame timings, and transmissions from different base stations may not be aligned in time. In some cases, the network may be enabled or configured to handle dynamic switching between synchronous and asynchronous operations.

[0053] UEs 115 are scattered throughout wireless network 100, and each UE may be stationary or mobile. It should be understood that although in the standards and specifications promulgated by 3GPP, mobile devices are commonly referred to as UEs, such devices may additionally or otherwise be referred to by those skilled in the art as mobile stations (MSs), subscriber stations, mobile units, subscriber units, radio units, remote units, mobile devices, wireless devices, wireless communication devices, remote devices, mobile subscriber stations, access terminals (ATs), mobile terminals, wireless terminals, remote terminals, cellular phones, terminals, user agents, mobile clients, clients, gaming devices, augmented reality devices, vehicle components, vehicle devices, or vehicle modules or some other suitable term. In this document, a "mobile" device or UE does not necessarily have the ability to move and may be stationary. Some non-limiting examples of mobile devices may include, for example, specific implementations of one or more UEs 115, including mobile phones, cellular phones, smart phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, laptop computers, personal computers (PCs), notebooks, netbooks, smartbooks, tablet computers, and personal digital assistants (PDAs). Mobile devices may additionally be IoT or "Internet of Everything" (IoE) devices, such as cars or other transportation vehicles, satellite radios, global positioning system (GPS) devices, global navigation satellite system (GNSS) devices, logistics controllers, drones, multi-rotor helicopters, quad-rotor helicopters, smart energy or security devices, solar panels or solar cell arrays, city lighting, water supply, or other infrastructure; industrial automation and enterprise equipment; consumer and wearable devices, such as glasses, wearable cameras, smart watches, health or fitness trackers, mammalian implantable devices, gesture tracking devices, medical devices, digital audio players (e.g., MP3 players), cameras, gaming consoles, etc.; and digital home or smart home devices, such as home audio, video, and multimedia devices, appliances, sensors, vending machines, smart lighting, home security systems, smart meters, etc. In one aspect, a UE may be a device that includes a universal integrated circuit card (UICC). In another aspect, a UE may be a device that does not include a UICC. In some aspects, a UE that does not include a UICC may also be referred to as an IoE device. Figure 1The illustrated specific implementation of UEs 115a - 115d is an example of a mobile smartphone - type device accessing the wireless network 100. The UE can also be a machine specifically configured for connection - based communications, including machine - type communications (MTC), enhanced MTC (eMTC), narrow - band IoT (NB - IoT), etc. Figure 1 The UEs 115e through 115k illustrated in are examples of various machines configured for communication that access the wireless network 100.

[0054] A mobile device such as UE 115 may be capable of communicating with any type of base station, whether it is a macro - base station, a pico - base station, a femto - base station, a relay station, etc. In Figure 1 , the communication link (represented as a lightning bolt) indicates a wireless transmission between the UE and the serving base station (the base station designated to serve the UE on the downlink or uplink), a desired transmission between base stations, and a backhaul transmission between base stations. The UE can operate as a base station or other network node in some scenarios. The backhaul communication between the base stations of the wireless network 100 can be carried out using wired or wireless communication links.

[0055] In operation, at the wireless network 100, base stations 105a - 105c use 3D beamforming and cooperative spatial techniques (such as coordinated multi - point (CoMP) or multi - connection) to serve UEs 115a and 115b. Macro - base station 105d performs backhaul communication with base stations 105a - 105c and the small cell (base station 105f). Macro - base station 105d also transmits multicast services subscribed to and received by UEs 115c and 115d. Such multicast services may include mobile TV or streaming video, or may include other services for providing community information, such as weather emergencies or alerts, such as Amber alerts or Gray alerts.

[0056] The specifically implemented wireless network 100 supports mission-critical communications with ultra-reliable and redundant links for mission-critical devices such as the UE 115e which is a drone. The redundant communication links with the UE 115e include links from macro base stations 105d and 105e and small cell base station 105f. Other machine type devices such as UE 115f (thermometer), UE 115g (smart meter), and UE 115h (wearable device) can communicate directly with base stations such as small cell base station 105f and macro base station 105e via the wireless network 100, or communicate in a multi-hop configuration by communicating with another user device that relays its information to the network, such as UE 115f communicating temperature measurement information to the smart meter UE 115g, which then reports it to the network via small cell base station 105f. The wireless network 100 can also provide additional network efficiency via dynamic, low-latency TDD communication or low-latency FDD communication (e.g., in a vehicle-to-vehicle (V2V) mesh network between UEs 115i - 115k communicating with macro base station 105e).

[0057] The base stations 105 can communicate with the core network 130 and with each other. For example, the base stations 105 can interface with the core network 130 via a backhaul link 132 (e.g., via S1, N2, N3, or other interfaces). The base stations 105 can communicate with each other directly (e.g., directly between base stations 105) or indirectly (e.g., via the core network 130) via a backhaul link (e.g., via X2, Xn, or other interfaces).

[0058] The core network 130 can provide user authentication, access authorization, tracking, Internet Protocol (IP) connectivity, and other access, routing, or mobility functions. The core network 130 can be an evolved packet core (EPC), which can include at least one mobility management entity (MME), at least one serving gateway (S-GW), and at least one packet data network (PDN) gateway (P-GW). The MME can manage non-access stratum (e.g., control plane) functions such as the mobility, authentication, and bearer management of UEs 115 served by base stations 105 associated with the EPC. User IP packets can be relayed through the S-GW, which can itself be connected to the P-GW. The P-GW can provide IP address allocation and other functions. The P-GW can be connected to the network operator IP services. The operator IP services can include access to the Internet, intranet, IP multimedia subsystem (IMS), or packet-switched (PS) streaming services.

[0059] In some specific implementations, the core network 130 includes or is coupled to a Location Management Function (LMF) 131, which is an entity in the 5G core network (5GC) that supports various functionalities, such as managing the support for different location services for one or more UEs. For example, the LMF 131 may include one or more servers, such as multiple distributed servers. The base station 105 may forward location messages to the LMF 131 and may communicate with the LMF via the NR Positioning Protocol A (NRPPa). The LMF 131 is configured to control the positioning parameters of the UE 115, and the LMF 131 may provide information to the base station 105 and the UE 115 such that actions may be taken at the UE 115. In some specific implementations, the UE 115 and the base station 105 are configured to communicate with the LMF 131 via the Access and Mobility Management Function (AMF).

[0060] Figure 2 is a block diagram illustrating examples of the base station 105 and the UE 115 according to one or more aspects. The base station 105 and the UE 115 may be Figure 1 any one of the base stations in and one of the UEs in. For the restricted association scenario (as described above), the base station 105 may be Figure 1 the small cell base station 105f in, and the UE 115 may be the UE 115c or 115d operating in the service area of the small cell base station 105f, which will be included in the list of accessible UEs of the small cell base station 105f for accessing the small cell base station 105f. The base station 105 may also be some other type of base station. As Figure 2 shown, the base station 105 may be equipped with antennas 234a to 234t, and the UE 115 may be equipped with antennas 252a to 252r for facilitating wireless communication.

[0061] At base station 105, transmit processor 220 may receive data from data source 212 and control information from controller 240, such as a processor. The control information may be for a physical broadcast channel (PBCH), a physical control format indicator channel (PCFICH), a physical hybrid ARQ (automatic repeat request) indicator channel (PHICH), a physical downlink control channel (PDCCH), an enhanced physical downlink control channel (EPDCCH), an MTC physical downlink control channel (MPDCCH), etc. The data may be for a physical downlink shared channel (PDSCH), etc. Additionally, transmit processor 220 may process (e.g., encode and symbol map) the data and control information respectively to obtain data symbols and control symbols. Transmit processor 220 may also generate reference symbols for, e.g., a primary synchronization signal (PSS) and a secondary synchronization signal (SSS), as well as cell-specific reference signals. Transmit (TX) MIMO processor 230 may perform spatial processing (e.g., precoding) on the data symbols, control symbols, or reference symbols (if applicable), and may provide an output symbol stream to modulators (MOD) 232a to 232t. For example, the spatial processing performed on the data symbols, control symbols, or reference symbols may include precoding. Each modulator 232 may process the corresponding output symbol stream (e.g., for OFDM, etc.) to obtain an output sample stream. Additionally or alternatively, each modulator 232 may process the output sample stream (e.g., perform analog-to-digital conversion, amplification, filtering, and upconversion on it) to obtain a downlink signal. The downlink signals from modulators 232a to 232t may be transmitted via antennas 234a to 234t respectively.

[0062] At UE 115, antennas 252a to 252r may receive the downlink signals from base station 105, and may provide the received signals to demodulators (DEMOD) 254a to 254r respectively. Each demodulator 254 may condition (e.g., filter, amplify, downconvert, and digitize) the corresponding received signal to obtain input samples. Each demodulator 254 may further process the input samples (e.g., for OFDM, etc.) to obtain received symbols. MIMO detector 256 may obtain the received symbols from demodulators 254a to 254r, perform MIMO detection on the received symbols when needed, and provide detected symbols. Receive processor 258 may process (e.g., demodulate, deinterleave, and decode) the detected symbols, provide the decoded data for UE 115 to data sink 260, and provide the decoded control information to controller 280, such as a processor.

[0063] On the uplink, at the UE 115, the transmit processor 264 may receive and process data from the data source 262 (e.g., for the physical uplink shared channel (PUSCH)) and control information from the controller 280 (e.g., for the physical uplink control channel (PUCCH)). Additionally, the transmit processor 264 may also generate reference symbols for reference signals. The symbols from the transmit processor 264 may be precoded by the TX MIMO processor 266 when needed, further processed by the modulators 254a to 254r (e.g., for SC-FDM, etc.), and transmitted to the base station 105. At the base station 105, the uplink signals from the UE 115 may be received by the antenna 234, processed by the demodulator 232, detected by the MIMO detector 236 when needed, and further processed by the receive processor 238 to obtain the decoded data and control information transmitted by the UE 115. The receive processor 238 may provide the decoded data to the data sink 239 and the decoded control information to the controller 240.

[0064] The controllers 240 and 280 may direct the operations at the base station 105 and the UE 115, respectively. The controller 240 or other processors and modules at the base station 105, or the controller 280 or other processors and modules at the UE 115, may execute or direct the execution of various processes for the techniques described herein, such as executing or directing Figure 9 and Figure 11 the illustrated execution or other processes for the techniques described herein. The memories 242 and 282 may store data and program codes for the base station 105 and the UE 115, respectively. The scheduler 244 may schedule the UE for data transmission on the downlink or uplink.

[0065] In some cases, UE 115 and base station 105 may operate in a shared radio frequency spectrum band, which may include licensed or unlicensed (e.g., contention-based) spectrum. In the unlicensed frequency portion of the shared radio frequency spectrum band, UE 115 or base station 105 may traditionally perform a medium sensing process to compete for access to the spectrum. For example, UE 115 or base station 105 may perform a listen-before-talk or listen-before-transmit (LBT) process (such as, clear channel assessment (CCA)) before communication to determine whether the shared channel is available. In some implementations, CCA may include an energy detection process to determine whether there is any other active transmission. For example, a device may infer that a change in the received signal strength indicator (RSSI) of a power meter indicates that the channel is occupied. In particular, signal power concentrated in a certain bandwidth and exceeding a predetermined noise floor may indicate another wireless transmitter. CCA may also include detection of a specific sequence indicating the use of the channel. For example, another device may transmit a specific preamble before transmitting a data sequence. In some cases, the LBT process may include a wireless node adjusting its own backoff window based on the amount of energy detected on the channel or acknowledgment / negative acknowledgment (ACK / NACK) feedback for its own transmitted packets (as an indication of a collision).

[0066] Figure 3 is a block diagram of an example wireless communication system 300 that supports visual sensing for positioning in accordance with one or more aspects. In some examples, wireless communication system 300 may implement aspects of wireless network 100. Wireless communication system 300 includes UE 115, network entity 305, core network 130, object 390, and blocker. Although one UE 115 and one network entity 305 are illustrated, in some other implementations, wireless communication system 300 may generally include multiple UE 115, multiple network entity 305, or a combination thereof. In some implementations, UE 115, base station 105, core network 130, LMF 131, or roadside unit may alternatively be referred to as network nodes. Additionally or alternatively, in some implementations, UE 115 includes or is located within a vehicle.

[0067] In some implementations, object 390 and blocker 392 may include one or more structures. Each of object 390 and blocker 392 may be configured to reflect one or more signals, block or interfere with line-of-sight communication between two devices, or a combination thereof. As described herein with reference to Figure 3 is described, object 390 is generally described as reflecting one or more signals, and blocker 392 is generally described as blocking or interfering with line-of-sight communication between two devices.

[0068] The UE 115 may include various components (such as structures, hardware components) for performing one or more functions described herein. For example, these components may include one or more processors 302 (collectively referred to hereinafter as "processor 302"), one or more memory devices 304 (collectively referred to hereinafter as "memory 304"), one or more transmitters 316 (collectively referred to hereinafter as "transmitter 316"), one or more receivers 318 (collectively referred to hereinafter as "receiver 318"), and one or more image capture devices 319 (collectively referred to hereinafter as "image capture device 319"). In some specific embodiments, the UE 115 may include an interface (e.g., a communication interface) that includes the transmitter 316, the receiver 318, or a combination thereof. The processor 302 may be configured to execute instructions 307 stored in the memory 304 to perform the operations described herein. In some specific embodiments, the processor 302 includes or corresponds to one or more of the receiving processor 258, the transmitting processor 264, and the controller 280, and the memory 304 includes or corresponds to the memory 282.

[0069] The memory 304 includes or is configured to store instructions 307 and information 306. The information may be configured to store configuration information, features 308, channel impulse responses 309, and location 310 (e.g., location information). In some specific embodiments, the memory 304 is further configured to store configuration information received by the UE 115 from the core network 130, the LMF 131, or the network entity 305. The features 308 may include key points, features, feature descriptors, or a combination thereof. The channel impulse response 309 may be generated by the UE 115 based on monitoring and / or receiving a positioning reference signal (such as the positioning reference signal 372 from the network entity 305). As an illustrative, non-limiting example, the location 310 may include or indicate a location, such as the location of the UE 115, the network entity, the object 390, or the blocker 392. The location 310 may be coordinates, such as 2D coordinates or 3D coordinates, may be absolute positioning or relative positioning, or may indicate a direction. In some specific embodiments, the UE 115 is configured to perform positioning to determine the location 310 of the UE 115. Additionally or alternatively, the memory 304 may be configured to store other data, such as map data.

[0070] The transmitter 316 is configured to send reference signals, control information, and data to one or more other devices, and the receiver 318 is configured to receive reference signals, synchronization signals, control information, and data from one or more other devices. For example, the transmitter 316 may send signaling, control information, and data to the base station 105, and the receiver 318 may receive signaling, control information, and data from the base station. In some embodiments, the transmitter 316 and the receiver 318 may be integrated in one or more transceivers. Additionally or alternatively, the transmitter 316 or the receiver 318 may include or correspond to reference Figure 2 one or more components of the UE 115 described.

[0071] In some embodiments, the UE 115 may include one or more antenna arrays. The one or more antenna arrays may be coupled to the transmitter 316, the receiver 318, or the communication interface. The antenna array may include a plurality of antenna elements configured to perform wireless communication with other devices, such as with the base station 105. In some embodiments, the antenna array may be configured to perform wireless communication using different beams (also referred to as antenna beams). The beams may include TX beams and RX beams. By way of illustration, the antenna array may include a plurality of independent sets (or subsets) of antenna elements (or a plurality of independent antenna arrays), and each set of antenna elements of the antenna array may be configured to communicate using a different respective beam, which may have a different respective direction from other beams. For example, the first set of antenna elements of the antenna array may be configured to communicate via a first beam having a first direction, and the second set of antenna elements of the antenna array may be configured to communicate via a second beam having a second direction. In other embodiments, the antenna array may be configured to communicate via more than two beams. Alternatively, one or more sets of antenna elements of the antenna array may be configured to concurrently generate multiple beams, for example, using multiple RF chains of the UE 115. Each individual set (or subset) of antenna elements may include a plurality of antenna elements, such as two antenna elements, four antenna elements, ten antenna elements, twenty antenna elements, or any other number greater than two. Although described as an antenna array, in other embodiments, the antenna array may include or correspond to a plurality of antenna panels, and each antenna panel may be configured to communicate using a different respective beam.

[0072] The image capture device 319 is configured to capture an image, such as a first image of the object 390. Additionally or alternatively, the image capture device 319 is configured to generate image data of the image, such as one or more pixel values.

[0073] UE 115 may include one or more components as described herein with reference to UE 115. In some particular implementations, UE 115 is a 5G-capable UE, a 6G-capable UE, or a combination thereof.

[0074] Network entity 305 may include various components (such as, structural components, hardware components) for performing one or more functions described herein. For example, these components may include one or more processors 352 (collectively referred to hereinafter as "processor 352"), one or more memory devices 354 (collectively referred to hereinafter as "memory 354"), one or more transmitters 356 (collectively referred to hereinafter as "transmitter 356"), one or more receivers 358 (collectively referred to hereinafter as "receiver 358"), and one or more image capture devices 319 (collectively referred to hereinafter as "image capture device 319"). In some particular implementations, base station 105 may include an interface (e.g., a communication interface) that includes transmitter 356, receiver 358, or a combination thereof. Processor 352 may be configured to execute instructions 360 stored in memory 354 to perform the operations described herein. In some particular implementations, processor 352 includes or corresponds to one or more of receiving processor 238, transmitting processor 220, and controller 240, and memory 354 includes or corresponds to memory 242.

[0075] Memory 354 includes or is configured to store instructions 360 and location information 364. The location information may include assistance information 366 and a positioning 368. The assistance information may include or indicate a coordinate point 367. In some particular implementations, the coordinate point 367 may include a virtual access point, such as a virtual access 2D point or a virtual access 3D point. Additionally or alternatively, the coordinate point 367 may include or correspond to a reflection point, such as a reflection point of one or more wireless signals. In some particular implementations, the coordinate point 367 is associated with a point (e.g., a location) of an object 390. The positioning 368 may include or indicate the positioning of network entity 305, the positioning of UE 115, or a combination thereof. Additionally or alternatively, the positioning 368 may include or indicate the direction (e.g., traveled) of UE 115, the relative orientation or translation between UE 115 and network entity 305, the absolute orientation of network entity 305, or a combination thereof.

[0076] Location 368 may include or correspond to location 310. For example, location 368 may be the location of UE 115. Additionally or alternatively, as an illustrative, non-limiting example, location 368 may include or indicate a location, such as the location of UE 115, a network entity, object 390, or obstruction 392. Location 368 may be coordinates, such as 2D coordinates or 3D coordinates, may be an absolute or relative location, or may indicate a direction. In some particular implementations, network entity 305 is configured to perform positioning to determine the location 310 of UE 115. Additionally or alternatively, memory 354 may be configured to store other data, such as map data.

[0077] Transmitter 356 is configured to send reference signals, synchronization signals, control information, and data to one or more other devices, and receiver 358 is configured to receive reference signals, control information, and data from one or more other devices. For example, transmitter 356 may send signaling, control information, and data to UE 115, and receiver 358 may receive signaling, control information, and data from that UE. In some particular implementations, transmitter 356 and receiver 358 may be integrated in one or more transceivers. Additionally or alternatively, transmitter 356 or receiver 358 may include or correspond to reference Figure 2 one or more components of base station 105 as described.

[0078] In some specific implementations, base station 105 may include one or more antenna arrays. The antenna array may include a plurality of antenna elements configured to perform wireless communication with other devices, such as with UE 115. In some specific implementations, the antenna array may be configured to perform wireless communication using different beams (also referred to as antenna beams). The beams may include TX beams and RX beams. By way of illustration, the antenna array may include a plurality of independent sets (or subsets) of antenna elements (or a plurality of independent antenna arrays), and each set of antenna elements of the antenna array may be configured to communicate using a different respective beam, which may have a different respective direction from other beams. For example, the first set of antenna elements of the antenna array may be configured to communicate via a first beam having a first direction, and the second set of antenna elements of the antenna array may be configured to communicate via a second beam having a second direction. In other specific implementations, the antenna array may be configured to communicate via more than two beams. Alternatively, one or more sets of antenna elements of the antenna array may be configured to concurrently generate a plurality of beams, for example, using a plurality of RF chains of base station 105. Each individual set (or subset) of antenna elements may include a plurality of antenna elements, such as two antenna elements, four antenna elements, ten antenna elements, twenty antenna elements, or any other number of antenna elements greater than two. Although described as an antenna array, in other specific implementations, the antenna array may include or correspond to a plurality of antenna panels, and each antenna panel may be configured to communicate using a different respective beam.

[0079] The image capture device 359 is configured to capture an image, such as a second image of the object 390. Additionally or alternatively, the image capture device 359 is configured to generate image data of the image, such as one or more pixel values.

[0080] The core network 130 may include a 4G core network, a 5G core, an evolved packet core (EPC). The core network 130 may be coupled (such as communicatively coupled) to the base station 105, the UE 115, the network entity 305, or a combination thereof. The core network 130 may include or correspond to the LMF 131. Although shown and described as being included in the core network 130, in some specific implementations, the LMF 131 may be different from the core network 130. For example, the LMF 131 may include one or more servers, such as multiple distributed servers. The LMF 131 may be configured to support various functions, such as managing the support for different location services for one or more UEs or one or more network entities. For example, the LMF 131 is configured to control the positioning parameters of the UE 115, and the LMF 131 may provide information to the network entity 305 and the UE 115 such that actions may be taken at the UE 115. The network entity 305, such as the base station 105, may forward location messages to the LMF 131 and may communicate with the LMF 131 via the NR positioning protocol A (NRPPa). In some specific implementations, the UE 115 and the base station 105 are configured to communicate with the LMF 131 via the access and mobility management function (AMF).

[0081] In some specific implementations, the LMF 131 is configured to support visual sensing for positioning. For example, the LMF 131 may be configured to determine or generate configuration information (e.g., 370) for the UE 115, the network entity 305, or a combination thereof, which is associated with visual sensing for positioning (such as using an image capture device to determine the positioning of the UE 115, the network entity 305, the object 390, or the blocker 392). The configuration information 370 may include or indicate key point detection techniques, feature descriptors of one or more of the key points, the number of key points and associated features to be provided, the image type (e.g., raw image or compressed image), the key point sampling type, the direction of the field of view, one or more parameters of the image capture device, or a combination thereof. As an illustrative, non-limiting example, the key point detection techniques may include a Harris corner detector, features from accelerated segment test (FAST), scale-invariant feature transform (SIFT), oriented FAST and rotated BRIEF (ORB), or a combination thereof. As an illustrative, non-limiting example, the feature descriptors of one or more of the key points may include ORB, speeded up robust features (SURF), BRIEF, or a combination thereof. In some specific implementations, the number of key points to be provided (where N is a positive integer) can be based on the intensity measure of each key point, which is specified as the sharpness of a corner point such as in the Harris corner measurement. For example, key points corresponding to the first highest corner points are requested. In some specific implementations, the key point sampling type can indicate uniform sampling in the image space or non-uniform sampling in the image space or random sampling in the image space. As an illustrative, non-limiting example, the one or more parameters of the image capture device can include or indicate focal length, imaging size, sampling characteristics (in the case of a digital source image), principal point, lens distortion, or a combination thereof.

[0082] In some specific implementations, the LMF 131 can be configured to perform one or more operations described herein with reference to the network entity 305. Additionally, the network entity 305 can be configured to perform one or more operations described herein with reference to the LMF 131. Although shown and described as separate, in some specific implementations, the network entity 305 and the LMF 131 can be included in the same device, such as a single server or a distributed server system.

[0083] In some specific implementations, the wireless communication system 300 implements a 5G NR network. For example, the wireless communication system 300 can include multiple 5G-capable UEs 115 and multiple 5G-capable base stations 105, such as UEs and base stations configured to operate according to a 5G NR network protocol defined by, for example, 3GPP. In some other specific implementations, the wireless communication system 300 implements a 6G network.

[0084] During the operation of the wireless communication system 300, the core network 130 (e.g., the LMF 131) can generate configuration information 370. The configuration information 370 can be associated with one or more visual features. Additionally or alternatively, the configuration information 370 can indicate a key point detection technique, feature descriptors of the one or more key points, the number of the one or more key points, the location or orientation of the one or more key points, parameters of the image capture device, or a combination thereof.

[0085] In some specific implementations, the configuration information 370 can be generated based on one or more UE capabilities received from the UE 115, one or more network entity capabilities received from the network entity 305, or a combination thereof. For example, the core network 130 (e.g., the LMF 131) can receive and store the one or more UE capabilities of the UE 115, the one or more network entity capabilities of the network entity 305, or a combination thereof. The core network 130 (e.g., the LMF 131) can send the configuration information 370 to the UE 115, the network entity 305, or a combination thereof.

[0086] UE 115 may receive configuration information and store it at the memory 304. Based on the configuration information 370, UE 115 may use the image capture device 319 to capture a first image. For example, UE 115 may generate first image data based on the first captured image. In some specific implementations, the first image may include an object 390.

[0087] UE 115 may process the first image (e.g., the first image data) to generate one or more key points, such as a first key point. A key point is a pixel in the image that can be easily tracked from image frame to image frame, such as a corner point. The key point may have an associated descriptor that aids in the tracking process. The key point plus its descriptor is called a feature. As an illustrative, non-limiting example, techniques for finding key points include Harris corner, Features from Accelerated Segment Test (FAST), Scale-Invariant Feature Transform (SIFT), Oriented FAST and Rotated BRIEF (ORB).

[0088] UE 115 may generate location information 374 based on one or more key points, one or more descriptors, one or more features, or a combination thereof. UE 115 may send the location information 374, which includes or indicates the one or more key points, the one or more descriptors, the one or more features, or a combination thereof. For example, UE 115 may send the location information 374 to the network entity 305, the core network 130, the LMF 131, or a combination thereof.

[0089] In some specific implementations, UE 115 may receive a location signal, such as a positioning reference signal 372, from the network entity 305. For example, UE 115 and the network entity 305 may perform downlink positioning, uplink positioning, or sidelink positioning. In some specific implementations, the positioning performed between UE 115 and the network entity 305 may occur when UE 115 and the network entity 305 are not in each other's line of sight (such as when an obstruction 392 is physically located between UE 115 and the network entity 305).

[0090] Note that UE 115 may receive the positioning reference signal 372 as a reflected signal, such that the positioning reference signal 372 transmitted by the network entity 305 is reflected by the object 390 before being received by UE 115. UE 115 may monitor the positioning reference signal 372 and may generate a channel impulse response 309 based on the positioning reference signal 372. UE 115 may send the channel impulse response 309 or an indication thereof to the network entity 305, the core network 130, the LMF 131, or a combination thereof. In some specific implementations, the location information 374 may include or indicate the channel impulse response 309.

[0091] The network entity 305 may receive configuration information and store it at the memory 354. Based on the configuration information 370, the network entity 305 may use the image capture device 359 to capture a second image. For example, the network entity 305 may generate second image data based on the second captured image. In some embodiments, the second image may include an object 390.

[0092] The network entity 305 may process the first image (e.g., the first image data) to generate one or more key points, such as second key points. The network entity 305 may generate positioning information based on one or more key points, one or more descriptors, one or more features, or a combination thereof generated according to the second image. The network entity 305 may send the positioning information, which includes or indicates the one or more key points, the one or more descriptors, the one or more features, or a combination thereof generated based on the second image. For example, the network entity 305 may send the positioning information to the core network 130, the LMF 131, or a combination thereof. In some embodiments, the positioning information sent by the network entity 305 may include or indicate the positioning information 374 received by the network entity 305 from the UE 115.

[0093] In some embodiments, the network entity 305 may determine one or more matching points between the first image and the second image. For example, the network entity 305 may determine the one or more matching points based on: one or more key points based on the first image and one or more key points based on the second image. The network entity 305 may determine a relative orientation (e.g., relative pose) based on the one or more matching points. For example, the network entity 305 may determine the relative pose based on multiple matching points. By way of illustration, the network entity 305 may use techniques such as: forming and decomposing an essential matrix (e.g., using 8 key points), the Nister method (e.g., using 5 key points), the Perspective-n-Point (PNP) method (in the case where the key point depth is being tracked) (e.g., using 3 key points), or a combination thereof to determine the relative pose.

[0094] The network entity 305 may determine the absolute orientation of the UE 115 based on the orientation of the network entity 305 and the relative pose. Additionally or alternatively, the network entity 305 may determine the translation (scaled) between the UE 115 and the network entity 305. For example, the translation between the UE 115 and the network entity 305 may be known or may be determined based on ranging measurements.

[0095] The network entity 305 can determine the coordinate point 367 based on the relative pose and the translation between the UE 115 and the network entity 305. For illustration, a coordinate point 367 (such as a virtual access 3D point) that is common to both the UE 115 and the network entity 305 can be determined, and this coordinate point can be determined based on the relative orientation, one or more visual features of the UE 115, one or more visual features of the network entity 305, or a combination thereof. The coordinate point 367 can correspond to a reflection point, such as the reflection point of an object 390 in the field of view of each of the UE 115 and the network entity 305.

[0096] Reference Figure 4 , which is an example of a system 400 that supports visual sensing for positioning according to one or more aspects. The system 400 illustrates the determination of a coordinate point 367 (referred to as coordinate point X in Figure 4 ) with respect to two devices, such as a first device B1 and a second device B2. The coordinate point X can include or correspond to a point or location of the object 390. The first device B1 can include or correspond to the UE 115, and the second device B2 can include or correspond to the network entity 305. As Figure 4 shown, points C and C' are the optical axes of the first camera (e.g., 319) of the first object B1 and the second camera (e.g., 359) of the second device B2, respectively. Additionally, the line CC' represents the distance between points C and C'.

[0097] The first device B1 and the second device B2 are configured to sense the environment around them. For example, the image sensed by the first device B1 includes a first image of a first image plane, and the image sensed by the second device B2 includes a second image of a second image plane. The first image includes a first point x corresponding to the coordinate point X, and the second image includes a second point x' corresponding to the coordinate point X'.

[0098] Based on those points X and X', using the theory of essential matrix decomposition (e.g., the 8-point method, the 5-point method), the relative orientation and relative translation (scaled) between the first device B1 and the second device B2 can be calculated. Two objects. Based on the calculated / estimated relative orientation, the devices B1 and B2 can triangulate possible reflection points that the two devices may have in common, such as the coordinate point X (e.g., a 3D point in the shown world).

[0099] Again reference Figure 3, in some specific implementations, network entity 305 may receive positioning information 374 that includes or indicates channel impulse response 309. Based on the channel impulse response 309 (e.g., time delay, AoA of multiple received paths, etc.), the network entity may determine multipath components. Additionally or alternatively, network entity 305 may perform the positioning of UE 115 based on coordinate points 367, multipath components, or a combination thereof. In some specific implementations, network entity 305 may determine the positioning of UE 115 (e.g., 310).

[0100] Network entity 305 may generate location information 378 that includes or indicates coordinate points 367, the positioning of UE 115 determined based on coordinate points 367, multipath components, the orientation of network entity 305, or a combination thereof. In some specific implementations, location information 378 includes or indicates assistance information, such as assistance information 366. Network entity 305 may send location information 378 to UE 115, core network 130, LMF 131, or a combination thereof.

[0101] Note that one or more operations described with reference to network entity 305 may be performed by core network 130 or LMF 131. For example, core network 130 or LMF 131 may be configured to determine the one or more matching points, the relative orientation based on the one or more matching points, the absolute orientation of UE 115, the translation between UE 115 and network entity 305 , coordinate points 367, multipath components, the positioning of UE 115, or a combination thereof. Additionally or alternatively, core network 130 or LMF 131 may be configured to send such information to network entity 305, UE 115, or a combination thereof.

[0102] UE 115 may receive location information 378 and determine the positioning of UE 115 (e.g., 310) based on coordinate points 367. For example, UE 115 may position itself (e.g., perform positioning) based on coordinate points 367. By way of illustration, UE 115 may use coordinate points 367 as virtual anchor points.

[0103] In some specific implementations, network entity 305 or UE 115 may respectively adjust one or more beams of network entity 305 or UE 115. For example, network entity 305 or UE 115 may adjust the angle of arrival (AoA) or angle of departure (AoD) based on coordinate points 367.

[0104] In some specific implementations, one or more operations described herein provide for signaling exchanges between devices (such as UE 115, network entity 305, core network 130, LMF 131, or combinations thereof) for inferring virtual access points using key points. The signaling exchanges may be associated with uplink positioning, downlink positioning, or sidelink positioning.

[0105] In some specific implementations, parameters for inferring one or more virtual access points (reflection points) may be signaled by UE 115, network entity 305 (such as base station 105 or RSU), core network 130 (such as LMF 131), or combinations thereof. For example, these parameters may include configurations such as configuration information 370, which includes or indicates: a key point detection method including one or more of Harris corner detector, FAST, SURF, etc.; a feature descriptor for one or more key points among key points including one or more of ORB, SURF, or BRIEF; the number of key points and associated features to be provided; the intrinsic parameters of the camera; or combinations thereof. In some specific implementations, the number N of key points to be provided is based on the intensity metric of each key point, which is specified as the sharpness of the corner in Harris corner measurement. For example, key points corresponding to the first N highest corners are requested. In some specific implementations, the requested key points are uniformly sampled in the image space, the original / compressed image itself is requested, or combinations thereof.

[0106] In some specific implementations, network entity 305 sends a configuration (such as 370) for sharing visually sensed features to UE 115 on a periodic, semi-static, or on-demand basis. Additionally or alternatively, network entity 305 may send a positioning reference signal (PRS) (such as 372) for downlink positioning.

[0107] UE 115 generates the requested visual features based on the configuration and sends the requested visual features. In some specific implementations, UE 115 sends visual features (such as 308) including key points and features. Additionally or alternatively, UE 115 sends the channel impulse response (CIR) (such as 309) that UE 115 has experienced.

[0108] Network entity 305 may receive visual features from UE 115 and may also determine its own visual features based on the configuration. Based on the visual features from UE 115 and the visual features of network entity 305, network entity 305 obtains the number of matching points between the first image captured by UE 115 and the second image captured by network entity 305. Then, network entity 305 based on the A number of matching points are used to determine the relative pose. The network entity 305 determines the absolute orientation of the UE 115 based on the orientation of the network entity 305 (which is known to the network entity 305) and the relative orientation calculated for the UE 115. In some specific implementations, the network entity 305 may also determine the translation between the network entity 305 and the UE 115. (at a certain scale). In one case, the translation between the network entity 305 and the UE 115 is known from ranging measurements.

[0109] In some specific implementations, the network entity 305 may determine a virtual access 3D point from a keypoint pair, such as the coordinate point 367. For example, for a given matching keypoint pair respectively from the UE 115 and the network entity 305 , the network entity 305 may determine the 3D point (in the reference network entity coordinate system) as follows: its own absolute orientation and translation . That is, the 3D point (e.g., 367) is calculated according to the tuple . For illustration, let and be the rotation and translation of the image capture device 319 and the image capture device 359 respectively relative to a common reference frame (e.g., world coordinates). Let be the projection matrix of the image frame , where K represents the intrinsic matrix and I is the identity matrix. Let be the homogeneous coordinate representation of the pixel position in the image frame - .

[0110] The 3D point corresponding to the pixel in the image frame -1 and the in the image frame -2 can be obtained by solving the following least squares equation:

[0111] ,

[0112] where is the skew-symmetric matrix representation of .

[0113] The network entity 305 may determine multipath components based on the channel impulse response 309. For example, the network entity 305 may determine the dominant multipath component (e.g., having a path loss less than a threshold), and the delay is greater than the position of the network entity 305 and the inferred 3D point a delay between (e.g., 367).

[0114] The network entity 305 may send to the UE 115 a pair of and an indication of the multipath components associated with For example, the network entity 305 may send location information 378, which includes or indicates and an indication of the multipath components associated with the multipath components.

[0115] In some specific implementations, the network entity 305 may determine a virtual access 3D point from a key point pair, such as the coordinate point 367. For example, the network entity 305 may calculate the virtual access centroid 3D point . For illustration, let be the matched key points between the UE 115 and the network entity, where n is a positive integer greater than 1. These points can be selected in such a way that the distances between the features corresponding to and are very close to each other. Thus, these points have a high correlation between the image frames of the UE 115 and the network entity 305. In addition, these points are close to each other, such that a "representative" 3D point can be modeled to represent all the corresponding two-dimensional image points that are close in position.

[0116] For each find the 3D point . The centroid virtual access 3D point is determined as . The network entity 305 may send to the UE 115 a pair of and an indication of the multipath components associated with For example, the network entity 305 may send location information 378, which includes or indicates and an indication of the multipath components associated with the multipath components.

[0117] Based on the inferred virtual access 3D point determined by any of the operations or techniques described (e.g., a key point pair or multiple key point pairs), the range of the UE115, or a combination thereof, the network entity 305 may adjust the transmit beam to have a specific departure angle in order to obtain a desired reflection angle at the virtual access 3D point .

[0118] In some specific implementations, the network entity 305 or the LMF 131 is configured to provide one or more 3D virtual access points (e.g., 367) to the UE 115. When the LMF calculates the one or more 3D virtual access points, both the UE 115 and the network entity 305 transmit their key points and features to the LMF 131. The LMF 131 provides the inferred 3D virtual access points to the UE 115, the network entity 305, or a combination thereof. This document refers at least to Figure 5 Examples of the network entity 305 providing 3D virtual access points for UE-based positioning are further described. This document refers at least to Figure 6 Examples of the LMF 131 providing 3D virtual access points to the UE 115 are further described.

[0119] In some specific implementations, the network entity 305 and the UE 115 send visual features to the LMF 131, and the LMF 131 calculates the 3D virtual access points. Additionally, the LMF 131 can use the channel impulse response 309 provided by the UE 115 to locate the UE 115. This document refers at least to Figure 7 Examples of such operations performed by the LMF 131 are further described.

[0120] In some specific implementations, based on the signaled reflection points, the UE 115 adjusts its receive beam to perform coarse beam alignment. This document refers at least to Figure 8 Examples of such operations of the UE 115 are further described.

[0121] In some specific implementations, the UE 115 or the LMF 131 is configured to send requests for key points in certain directions (e.g., towards the northeast, or to the left of that other identified key point) as part of a visual feature configuration (e.g., 370), which is described at least in Figures 5 to 8 Additional or alternatively, one or more key points can be intentionally created or identified. For example, the one or more key points can correspond to known structures, or can be created, for example, by a flashing LED light display, flashing in a specific pattern, and requiring nodes (e.g., the UE 115 or the network entity 305) to capture these key points. By way of illustration, the one or more key points can be included in a display for art / advertising by adding artificially created features that will assist in key-point-based positioning.

[0122] As referred to in Figure 3As described, the present disclosure provides techniques for supporting visual sensing for positioning. The described techniques can enable the determination of the location of UE 115 when there is no line of sight between UE 115 and a network entity 305 (e.g., a base station, an RSU, or another UE). Additionally, these techniques can enable the network entity 305 or UE 115 to adjust one or more beams to improve the transmission or reception of reflected signals, and thus compensate for interference or occlusion. Additionally, by using the image capture device of UE 115 to determine a coordinate point 367 (e.g., a virtual access point), it may be possible to determine the location of UE 115 based on only one network entity 305 (e.g., a real access point).

[0123] Figures 5 to 8 are ladder diagrams that each illustrate an example of visual sensing for positioning according to one or more aspects. As Figures 5 to 7 shown, the system of the ladder diagram includes an LMF 131, a network entity 305, and a UE 115. As Figure 8 shown, the system of the ladder diagram includes a network entity 305 and a UE 115. The network entity 305 may include or correspond to a base station 105, a roadside unit, or another UE. The LMF 131 may include or correspond to a core network 130. Although shown and described as separate, in some embodiments, the network entity 305 and the LMF 131 may be included in the same device, such as a single server or a distributed server system. The UE 115, the network entity 305, and the LMF 131 may include one or more components and be configured to perform one or more operations as described with reference to Figures 1 to 4 described.

[0124] Referring to Figure 5 , Figure 5 is an example of a system 500 that supports visual sensing for positioning according to one or more aspects. During operation, at 502, the LMF 131 sends a visual feature configuration to the network entity 305. The visual feature configuration sent to the network entity 305 may include or correspond to configuration information 370.

[0125] At 504, the LMF 131 sends a visual feature configuration to the UE 115. The visual feature configuration sent to the UE 115 may include or correspond to configuration information 370. The visual feature configuration sent to the UE 115 may be sent before, after, or concurrently with the visual feature configuration sent to the network entity 305.

[0126] At 506, the UE 115 sends feature sharing information to the network entity 305. The feature sharing information may include or correspond to information 306, features 308, or positioning information 374. The feature sharing information may be generated by the UE 115 based on a visual feature configuration received by the UE 115, based on an image captured by an image capture device associated with or included in the UE 115, or a combination thereof.

[0127] At 510, based on the visual feature configuration received by the network entity 305 from the UE 115, the feature sharing information generated by the network entity 305, or a combination thereof, the network entity 305 may determine a virtual 3D access point. The virtual 3D access point may include or correspond to location information 364, auxiliary information 366, or coordinate points 367.

[0128] At 514, the network entity 305 sends a virtual access 3D point to the UE 115. For example, the UE 115 may receive location information 378 that includes or indicates the virtual access 3D point.

[0129] At 520, the UE 115 performs positioning based on treating the virtual access 3D point as an anchor point. In some specific implementations, the UE 115 may perform positioning to determine the positioning of the UE 115, such as positioning 310.

[0130] Reference Figure 6 , Figure 6 is an example of a system 600 that supports visual sensing for positioning according to one or more aspects. During operation, the LMF 131 sends a visual feature configuration to the network entity 305 at 502 and sends a visual feature configuration to the UE 115 at 504, as described in reference Figure 5 .

[0131] At 606, the network entity 305 sends feature sharing information to the LMF 131. The feature sharing information sent by the network entity may include or correspond to one or more features. The feature sharing information may be generated by the network entity 305 based on the visual feature configuration received by the network entity 305, based on an image captured by an image capture device associated with or included in the network entity 305, or a combination thereof.

[0132] At 608, the UE 115 sends feature sharing information to the LMF 131. The feature sharing information may include or correspond to the information 306, the feature 308, or the positioning information 374. The feature sharing information may be generated by the UE 115 based on a visual feature configuration received by the UE 115, based on an image captured by an image capture device associated with or included in the UE 115, or a combination thereof. The feature sharing information sent by the UE 115 may be sent before, after, or concurrently with the feature sharing information sent by the network entity 305.

[0133] At 610, based on the feature sharing information received by the LMF 131 from the network entity 305, the UE 115, or a combination thereof, the LMF 131 may determine a virtual 3D access point. The virtual 3D access point may include or correspond to the location information 364, the assistance information 366, the coordinate point 367, or the location information 378.

[0134] At 614, the LMF 131 sends the virtual access 3D point to the UE 115. For example, the UE 115 may receive the location information 378 that includes or indicates the virtual access 3D point.

[0135] At 620, the UE 115 performs positioning based on treating the virtual access 3D point as an anchor point. In some specific implementations, the UE 115 may perform positioning to determine the positioning of the UE 115, such as the positioning 310.

[0136] Reference Figure 7 , Figure 7 is an example of a system 700 that supports visual sensing for positioning according to one or more aspects. During operation, the LMF 131 sends a visual feature configuration to the network entity 305 at 502 and sends a visual feature configuration to the UE 115 at 504, as described in reference Figure 5 Additionaly, at 606, the network entity 305 sends feature sharing information to the LMF 131, as described in reference Figure 6 .

[0137] At 708, the UE 115 sends feature sharing information and a channel impulse response to the LMF 131. The feature sharing information may include or correspond to information 306, feature 308, or positioning information 374. The feature sharing information may be generated by the UE 115 based on a visual feature configuration received by the UE 115, based on an image captured by an image capture device associated with or included in the UE 115, or a combination thereof. The channel impulse response may include or correspond to information 306, channel impulse response 309, or positioning information 374. In some specific implementations, the channel impulse response is determined by the UE 115 based on a positioning reference signal (such as positioning reference signal 372) sent by the network entity 305. The feature sharing information and the channel impulse response may be generated together or separately. Additionally or alternatively, the feature sharing information, the channel impulse response, or a combination thereof sent by the UE 115 may be sent before, after, or concurrently with the feature sharing information sent by the network entity 305.

[0138] At 710, based on the feature sharing information received by the LMF 131 from the network entity 305, the feature sharing information received by the LMF 131 from the UE 115, the channel impulse response received by the LMF 131 from the UE 115, or a combination thereof, the LMF 131 may determine a virtual 3D access point. The virtual 3D access point may include or correspond to location information 364, assistance information 366, coordinate point 367, or location information 378.

[0139] At 720, the LMF 131 performs positioning based on treating the virtual access 3D point as an anchor point. In some specific implementations, the LMF 131 may perform positioning to determine the positioning of the UE 115, such as positioning 310. At 722, the LMF 131 sends an indication of the positioning of the UE 115 to the UE 115.

[0140] Reference Figure 8 , Figure 8 is an example of a system 800 that supports visual sensing for positioning according to one or more aspects. During operation, at 802, the network entity 305 sends a visual feature configuration to the UE 115. The visual feature configuration sent to the UE 115 may include or correspond to configuration information 370.

[0141] At 806, at 506, the UE 115 sends feature sharing information to the network entity 305. The feature sharing information may include or correspond to information 306, feature 308, or positioning information 374. The feature sharing information may be generated by the UE 115 based on a visual feature configuration received by the UE 115, based on an image captured by an image capture device associated with or included in the UE 115, or a combination thereof.

[0142] At 808, the UE 115 sends a channel impulse response to the network entity 305. The channel impulse response may include or correspond to information 306, channel impulse response 309, or positioning information 374. In some specific implementations, the channel impulse response is determined by the UE 115 based on a positioning reference signal (such as positioning reference signal 372) sent by the network entity 305. The feature sharing information may be sent by the UE 115 before, after, or concurrently with the channel impulse response sent by the UE 115.

[0143] At 810, the network entity 305 determines a relative orientation and a virtual 3D access point. For example, the virtual 3D access point may include or correspond to position information 364, assistance information 366, or coordinate point 367. In some specific implementations, the network entity 305 may determine the virtual access 3D point based on a visual feature configuration received by the network entity 305 from the UE 115, feature sharing information generated by the network entity 305, or a combination thereof.

[0144] At 812, the network entity 305 sends assistance information to the UE 115. For example, the assistance information may include or correspond to position information 364, assistance information 366, or coordinate point 367. In some specific implementations, the assistance information includes or indicates the virtual access 3D point. For example, the UE 115 may receive position information 378 that includes or indicates the virtual access 3D point.

[0145] At 816, the network entity 305 determines the Tx / Rx beam based on the virtual access 3D point. In some specific implementations, the network entity 305 may additionally or alternatively determine the Tx / Rx beam based on the channel impulse response received from the UE 115. Although the network entity 305 is described as determining the Tx / Rx beam after sending the assistance information, the Tx / Rx beam may be determined before, after, or concurrently with the sending of the assistance information.

[0146] At 820, the UE 115 performs positioning by treating the virtual access 3D point as an anchor point. In some specific implementations, the UE 115 may perform positioning to determine the positioning of the UE 115, such as positioning 310. Although the UE 115 is described as performing positioning after the network entity 305 determines the Tx / Rx beam, the UE 115 may perform positioning before, after, or concurrently with the network entity determining the Tx / Rx beam.

[0147] At 826, the UE 115 determines Tx / Rx beams based on virtual access 3D points. In some specific implementations, the UE 115 may additionally or alternatively determine Tx / Rx beams based on the channel impulse response transmitted by the UE 115 at 808. Although the UE 115 is described as performing positioning after positioning, the UE 115 may perform positioning before, after, or concurrently with positioning.

[0148] Figure 9 is a flowchart illustrating an example process 900 that supports visual sensing for positioning in accordance with one or more aspects. Operations of process 900 may be performed by a UE (such as, for example, the UE 115 described above with reference to Figures 1 to 8 or the UE described with reference to Figure 10 ). For example, the example operations (also referred to as "boxes") of process 900 may enable the UE 115 to support visual sensing for positioning.

[0149] In box 902, the UE receives a first image of an object from an image capture device. For example, the image capture device may include the image capture device 319. The object may include or correspond to the object 390. In some specific implementations, the UE captures the first image via a first image capture device of the UE.

[0150] In box 904, the UE receives location information, which includes coordinate points, a positioning of the UE determined based on the coordinate points, or a combination thereof. For example, the location information may include or correspond to the location information 378. The location information may be received from the core network 130, the LMF 131, a location management function, the base station 105, a roadside unit, or the network entity 305. The positioning may include or correspond to the positioning 310 or 368. The coordinate points may include or correspond to the coordinate points 367. In some specific implementations, the coordinate points are associated with reflection points. The coordinate points may be generated based on: the relative orientation between the UE and the network entity; and a matching pair of points, which includes a first point of the first image and a second point of a second image of the object captured by the network entity. The network entity may include or correspond to the base station 105, a roadside unit, or the network entity 305. In some specific implementations, the location information includes or indicates auxiliary information. Additionally or alternatively, the coordinate points include or indicate virtual access 3D points. In some specific implementations, the location information indicates the coordinate points and multipath components based on a channel impulse response measured by the UE.

[0151] In some specific implementations, the UE receives configuration information associated with one or more visual features. The configuration information may include or correspond to Configuration Information 370. The configuration information indicates a key point detection technique, feature descriptors of one or more key points, the number of the one or more key points, the location or orientation of the one or more key points, parameters of an image capture device, or a combination thereof. The UE may determine the first point, such as a key point, based on the configuration. Additionally or alternatively, the UE may send positioning information that indicates the first point, the feature descriptor, or a combination thereof. For example, the positioning information may include or correspond to Positioning Information 374.

[0152] In some specific implementations, the UE receives a positioning reference signal from the network entity. For example, the positioning reference signal may include or correspond to a positioning reference signal. The UE may determine a channel impulse response based on the positioning reference signal. The channel impulse response may include or correspond to Channel Impulse Response 309. Additionally or alternatively, the UE may send positioning information that includes or indicates the channel impulse response. For example, the positioning information may include or correspond to Positioning Information 374.

[0153] In some specific implementations, the UE determines the positioning of the UE based on the location information. Additionally or alternatively, the UE may adjust the angle of the beam of the UE based on the coordinate point. For example, the UE may adjust the angle of the receiving beam to have an angle of departure associated with the coordinate point. As another example, the UE may adjust the transmitting beam based on the coordinate point.

[0154] Figure 10 is a block diagram of an example UE 1000 that supports visual sensing for positioning according to one or more aspects. UE 1000 may be configured to perform operations including the blocks of the processes described with reference to Figure 9 In some specific implementations, UE1000 includes the structures, hardware, and components shown and described with reference to Figures 1 to 8 UE 115. For example, UE 1000 includes a controller 280 that operates to execute logic or computer instructions stored in a memory 282 and controls the components of UE 1000 that provide the features and functionality of UE 1000. UE 1000 transmits and receives signals via radio devices 1001a-r and antennas 252a-r under the control of the controller 280. The radio devices 1001a-r include various components and hardware, such as Figure 2 illustrated for UE 115, including modulators and demodulators 254a-r, a MIMO detector 256, a receive processor 258, a transmit processor 264, and a TX MIMO processor 266.

[0155] As shown in the figure, the memory 282 may include configuration information 1002, positioning information 1003, and positioning logic 1004. The configuration information 1002 may include or correspond to the configuration information 370. The positioning information 1003 may include or correspond to the information 306, feature 308, channel impulse response 309, positioning 310, or positioning information 374. The positioning logic 1004 may be configured to determine the positioning information 1003. The UE 1000 may receive signals from or send signals to one or more network entities (such as, Figures 3 to 8 the base station 105, core network 130, LMF 131, network entity 305, or a network entity as Figure 12 illustrated).

[0156] Figure 11 is a flowchart illustrating an example process 1100 that supports visual sensing for positioning according to one or more aspects. The operations of the process 1100 may be performed by a network node (such as, the core network 130, LMF 131, network entity 305 described above with reference to Figures 1 to 8 or a network entity as described with reference to Figure 12 ). For example, the example operations of the process 1100 may enable the base station 105 to support visual sensing for positioning.

[0157] At block 1102, the network node generates coordinate points based on: the relative orientation between the UE and the network entity; and a pair of matching image points, the pair of matching image points including a first point of a first image of an object captured by the UE and a second point of a second image of the object captured by the network entity. The coordinate points may include or correspond to the coordinate points 367. The UE may include or correspond to the UE 115. The network entity may include or correspond to the base station 105, roadside unit, network entity 305, or another UE. In some specific implementations, the network node includes the network entity. Thus, in some such specific implementations, the network node captures the second image.

[0158] At block 1104, the network node sends location information to the UE. The location information may include or correspond to the location information 378. The location information may include or indicate the coordinate points, the positioning of the UE determined based on the coordinate points, or a combination thereof. The positioning may include or correspond to the positioning 310 or 368.

[0159] In some specific implementations, the network node generates configuration information associated with one or more visual features. The configuration information 370 may include or correspond to the configuration information 370. The configuration information may include or indicate a key point detection technique, feature descriptors of one or more key points, the number of the one or more key points, the position or orientation of the one or more key points, parameters of the image capture device, or a combination thereof. The network node may send the configuration information to the UE, the network entity, or a combination thereof.

[0160] In some specific implementations, the network node receives positioning information from the UE. The positioning information may include or correspond to the positioning information 374. The positioning information may include or indicate feature information, a channel impulse response, or a combination thereof. The feature information and the channel impulse response may respectively include or correspond to the feature 308 and the channel impulse response 309. The feature information may be based on the first image. Additionally or alternatively, the feature information may be generated based on the configuration information sent to the UE.

[0161] In some specific implementations, the network node determines one or more pairs of matching image points based on the first image and the second image. The one or more pairs of matching image points include pairs of matching image points based on the first point and the second point. The network node may determine a relative pose based on the one or more pairs of matching image points. The network node may determine the coordinate point based on the relative pose and the translation between the network entity and the UE.

[0162] In some specific implementations, the network node sends a positioning reference signal. The positioning reference signal may include or correspond to the positioning reference signal 372. Additionally or alternatively, the network node may receive a channel impulse response from the UE. For example, the channel impulse response may include or correspond to the channel impulse response 309. The channel impulse response may be based on the positioning reference signal. In some specific implementations, the network node may determine multipath components based on the channel impulse response. The position information (such as the position information 378) may also indicate the multipath components.

[0163] In some specific implementations, the network node may determine the positioning of the UE based on the coordinate point. For example, the network node may determine the positioning by positioning the UE based on the coordinate point. Additionally or alternatively, in some specific implementations, the network node may adjust the angle of the beam of the network entity based on the coordinate point. For example, the beam may be a transmit beam or a receive beam.

[0164] Figure 12 is a block diagram of an example network entity 1200 that supports visual sensing for positioning according to one or more aspects. The network entity 1200 may be configured to perform operations including reference Figure 11Blocks of process 1100 (of a network node). In some specific implementations, network entity 1200 includes the structure, hardware, and components shown and described with reference to Figures 1 to 8 base station 105. For example, network entity 1200 may include a controller 240 that operates to execute logic or computer instructions stored in a memory 242 and controls components of network entity 1200 that provide the features and functionality of network entity 1200. Network entity 1200 transmits and receives signals via radio devices 1201a-t and antennas 234a-t under the control of controller 240. Radio devices 1201a-t include various components and hardware as illustrated for base station 105 in Figure 2 , including modulators and demodulators 232a-t, transmit processor 220, TX MIMO processor 230, MIMO detector 236, and receive processor 238.

[0165] As shown, memory 242 may include configuration information 1202, location information 1203, and positioning logic 1204. Configuration information 1202 may include or correspond to configuration information 370. Location information 1203 may include or correspond to location information 364, assistance information 366, coordinate points 367, positioning 368, or location information 378. Positioning logic 1204 may be configured to generate location information 1203. Network entity 1200 may receive signals from or transmit signals to one or more UEs, such as Figures 1 to 8 UE 115 or Figure 10 UE 1000.

[0166] Note that one or more blocks (or operations) described with reference to Figure 9 or Figure 11 may be combined with one or more blocks (or operations) described with reference to another figure in the figures. For example, Figure 9 one or more blocks (or operations) may be combined with Figure 11 one or more blocks (or operations). As another example, one or more blocks associated with Figure 9 or Figure 11 may be combined with one or more blocks associated with Figure 5 , Figure 6 , Figure 7 or Figure 8 . As yet another example, one or more blocks associated with Figure 9 or Figure 11 may be combined with one or more blocks (or operations) associated with Figures 1 to 4 . Additionally or alternatively, one or more operations described above with reference to Figures 1 to 8 may be combined with one or more operations described with reference to Figure 10 or Figure 12 .

[0167] In one or more aspects, techniques for supporting visual sensing for positioning may include additional aspects, such as any single aspect or any combination of aspects described below or in connection with one or more other processes or devices described elsewhere herein. In a first aspect, techniques for supporting visual sensing for positioning may include: receiving a first image of an object from an image capture device. These techniques may also include: receiving location information, the location information including coordinate points, a positioning of the UE determined based on the coordinate points, or a combination thereof. The coordinate points are generated based on: a relative orientation between the UE and a network entity; and a matching pair of points, the matching pair of points including a first point of the first image and a second point of a second image of the object captured by the network entity. In some examples, the techniques in the first aspect may be implemented in a method or process. In some other examples, the techniques of the first aspect may be implemented in a wireless communication device that may include a UE or a component of a UE. In some examples, the wireless communication device may include at least one processing unit or system (which may include an application processor, a modem, or other components) and at least one memory device coupled to the processing unit. The processing unit may be configured to perform the operations described herein with respect to the wireless communication device. In some examples, the memory device includes a non-transitory computer-readable medium having program code stored thereon, the program code being configured to cause the wireless communication device to perform the operations described herein when executed by the processing unit. Additionally or alternatively, the wireless communication device may include an interface (e.g., a wireless communication interface) including a transmitter, a receiver, or a combination thereof. Additionally or alternatively, the wireless communication device may include one or more components configured to perform the operations described herein.

[0168] In a second aspect, in combination with the first aspect, these techniques further include: capturing a first image by the first image capture device of the UE.

[0169] In a third aspect, in combination with the first aspect or the second aspect, the location information includes auxiliary information.

[0170] In a fourth aspect, in combination with one or more of the first aspect to the third aspect, the coordinate points include virtual access 3D points.

[0171] In a fifth aspect, in combination with one or more of the first aspect to the fourth aspect, these techniques further include: receiving configuration information associated with one or more visual features.

[0172] In a sixth aspect, in combination with the fifth aspect, these techniques further include: determining the first point based on the configuration information, the first point including key points.

[0173] In a seventh aspect, in combination with the sixth aspect, these techniques further include: transmitting positioning information that indicates the first point, the feature descriptor, or a combination thereof.

[0174] In an eighth aspect, in combination with one or more of the fifth to seventh aspects, the configuration information indicates key point detection techniques, feature descriptors of one or more key points, the number of the one or more key points, the position or orientation of the one or more key points, parameters of the image capture device, or a combination thereof.

[0175] In a ninth aspect, in combination with one or more of the first to eighth aspects, these techniques further include: receiving a positioning reference signal from the network entity.

[0176] In a tenth aspect, in combination with the ninth aspect, these techniques further include: determining a channel impulse response based on the positioning reference signal.

[0177] In an eleventh aspect, in combination with the tenth aspect, these techniques further include: transmitting positioning information indicating the channel impulse response.

[0178] In a twelfth aspect, in combination with one or more of the first to eleventh aspects, the location information indicates the coordinate point and the multipath components based on the channel impulse response measured by the UE.

[0179] In a thirteenth aspect, in combination with one or more of the first to twelfth aspects, these techniques further include: determining the positioning of the UE based on the location information.

[0180] In a fourteenth aspect, in combination with the thirteenth aspect, these techniques further include: adjusting the angle of the receiving beam to have an angle of departure associated with the coordinate point. In a specific implementation, the coordinate point is associated with a reflection point.

[0181] In a fifteenth aspect, in combination with one or more of the first to fourteenth aspects, the network entity includes a base station, a roadside unit, or another UE.

[0182] In a sixteenth aspect, in combination with one or more of the first to sixteenth aspects, the location information is received from a location management function.

[0183] In one or more aspects, techniques for supporting visual sensing for positioning may include additional aspects, such as any single aspect or any combination of aspects described below or in connection with one or more other processes or devices described elsewhere herein. In a seventeenth aspect, techniques for supporting visual sensing for positioning may include: generating coordinate points based on: the relative orientation between a UE and a network entity; and a matched pair of image points, the matched pair of image points including a first point of a first image of an object captured by the UE and a second point of a second image of the object captured by the network entity. These techniques may also include: sending location information to the UE. The location information indicates the coordinate points, the positioning of the UE determined based on the coordinate points, or a combination thereof. In some examples, the techniques in the seventeenth aspect may be implemented in a method or process. In some other examples, the techniques of the seventeenth aspect may be implemented in a wireless communication device (such as a network entity or a network node), which may include a roadside unit, components of a roadside unit, a base station, or components of a base station. In some examples, the wireless communication device may include at least one processing unit or system (which may include an application processor, a modem, or other components) and at least one memory device coupled to the processing unit. The processing unit may be configured to perform the operations described herein with respect to the wireless communication device. In some examples, the memory device includes a non-transitory computer-readable medium having program code stored thereon, the program code being configured to cause the wireless communication device to perform the operations described herein when executed by the processing unit. Additionally or alternatively, the wireless communication device may include an interface (such as a wireless communication interface) including a transmitter, a receiver, or a combination thereof. Additionally or alternatively, the wireless communication device may include one or more components configured to perform the operations described herein.

[0184] In an eighteenth aspect, in combination with the seventeenth aspect, these techniques further include: generating configuration information associated with one or more visual features.

[0185] In a nineteenth aspect, in combination with the eighteenth aspect, these techniques further include: sending the configuration information to the UE, the network entity, or a combination thereof.

[0186] In a twentieth aspect, in combination with one or more of the eighteenth or nineteenth aspects, the configuration information indicates key point detection techniques, feature descriptors of one or more key points, the number of the one or more key points, the location or orientation of the one or more key points, parameters of an image capture device, or a combination thereof.

[0187] In a twenty-first aspect, in combination with one or more of the eighteenth to twentieth aspects, these techniques further include: receiving location information from the UE.

[0188] In a twenty-second aspect, in combination with the twenty-first aspect, the positioning information includes feature information, a channel impulse response, or a combination thereof.

[0189] In a twenty-third aspect, in combination with the twenty-second aspect, the feature information is based on the first image and is generated based on the configuration information sent to the UE.

[0190] In a twenty-fourth aspect, in combination with one or more of the seventeenth aspect to the twenty-third aspect, the techniques further include: capturing the second image.

[0191] In a twenty-fifth aspect, in combination with one or more of the seventeenth aspect to the twenty-fourth aspect, the techniques further include: determining one or more pairs of matching image points based on the first image and the second image, the one or more pairs of matching image points including the pair of matching image points based on the first point and the second point.

[0192] In a twenty-sixth aspect, in combination with the twenty-fifth aspect, the techniques further include: determining a relative pose based on the one or more pairs of matching image points.

[0193] In a twenty-seventh aspect, in combination with the twenty-sixth aspect, the techniques further include: determining the coordinate point based on the relative pose and the translation between the network entity and the UE.

[0194] In a twenty-eighth aspect, in combination with one or more of the seventeenth aspect to the twenty-seventh aspect, the techniques further include: transmitting a positioning reference signal.

[0195] In a twenty-ninth aspect, in combination with the twenty-eighth aspect, the techniques further include: receiving, from the UE, a channel impulse response based on the positioning reference signal.

[0196] In a thirtieth aspect, in combination with the twenty-ninth aspect, the techniques further include: determining multipath components based on the channel impulse response.

[0197] In a thirty-first aspect, in combination with the thirtieth aspect, the position information further indicates the multipath components.

[0198] In a thirty-second aspect, in combination with one or more of the seventeenth aspect to the thirty-first aspect, the techniques further include: determining the positioning of the UE based on the coordinate point.

[0199] In a thirty-third aspect, in combination with the thirty-second aspect, wherein determining the positioning includes positioning the UE based on the coordinate point.

[0200] In a thirty-fourth aspect, in combination with one or more of the seventeenth aspect to the thirty-third aspect, these techniques further include: adjusting the angle of the beam of the network entity based on the coordinate point.

[0201] In a thirty-fifth aspect, in combination with one or more of the seventeenth aspect to the thirty-fourth aspect, the network node includes a location management function.

[0202] In a thirty-sixth aspect, in combination with one or more of the seventeenth aspect to the thirty-fifth aspect, the network entity includes a base station, a roadside unit, or another UE.

[0203] Those skilled in the art should understand that any of a variety of different technologies and techniques can be used to represent information and signals. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may have been mentioned throughout the above description can be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or optical particles, or any combination thereof.

[0204] This article is relative to Figures 1 to 12 The components, functional blocks, and modules described herein include processors, electronic devices, hardware devices, electronic components, logic circuits, memories, software code, firmware code, etc., or any combination thereof. Software should be broadly interpreted to mean instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, executables, executing threads, processes, and / or functions, etc., regardless of whether it is referred to as software, firmware, middleware, microcode, hardware description language, or other terms. Additionally, the features discussed herein can be implemented via dedicated processor circuitry, via executable instructions, or a combination thereof.

[0205] Those skilled in the art will further understand that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability of hardware and software, the various illustrative components, blocks, modules, circuits, and steps have been generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the particular application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in different ways for each particular application, but such specific implementation decisions should not be construed as causing a departure from the scope of the disclosure. Those skilled in the art will also readily recognize that the order or combination of the components, methods, or interactions described herein are merely examples, and the components, methods, or interactions of the various aspects of the disclosure can be combined or performed in ways other than those illustrated and described herein.

[0206] The various illustrative logical components, logical blocks, modules, circuits, and algorithmic processes described in connection with the specific embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. The interchangeability of hardware and software has been described generally in terms of functionality and illustrated in the various illustrative components, blocks, modules, circuits, and processes described above. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system.

[0207] The hardware and data processing apparatus for implementing or performing the various illustrative logical components, logical blocks, modules, and circuits described in connection with the aspects disclosed herein can be realized using a general-purpose single-chip or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic components, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, or, any conventional processor, controller, microcontroller, or state machine. In some specific embodiments, the processor may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some specific embodiments, specific processes and methods may be performed by circuitry specific to a given function.

[0208] In one or more aspects, the described functionality can be implemented in hardware, digital electronic circuitry, computer software, firmware, including the structures disclosed in this specification and structural equivalents thereof, or any combination thereof. The specific embodiments of the subject matter described in this specification can also be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a computer storage medium for execution by, or to control the operation of, a data processing apparatus.

[0209] If implemented in software, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. The processes of the methods or algorithms disclosed herein may be implemented in a processor-executable software module that may reside on a computer-readable medium. A computer-readable medium includes both computer storage media and communication media including any medium that can be implemented to transfer a computer program from one place to another. The storage media may be any available media that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired program code in the form of instructions or data structures and that can be accessed by a computer. Additionally, any connection may be properly termed a computer-readable medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media. Additionally, operations of a method or algorithm may be embodied as one code and instruction set or any combination of code and instruction sets that reside on a machine-readable medium and a computer-readable medium that may be incorporated into a computer program product.

[0210] Various modifications to the specific implementations described in this disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to some other specific implementations without departing from the spirit or scope of this disclosure. Thus, the claims are not intended to be limited to the specific implementations shown herein but are to be accorded the widest scope consistent with this disclosure, the principles disclosed herein, and the novel features.

[0211] Additionally, those of ordinary skill in the art will readily recognize that the terms "upper" and "lower" are sometimes used for ease of description of the figures and indicate relative positions corresponding to the orientation of the figures on a correctly oriented page and may not reflect the correct orientation of any device as implemented.

[0212] Certain features that are described in the context of separate specific implementations in this specification may also be implemented in combination in a single specific implementation. Conversely, various features that are described in the context of a single specific implementation may also be implemented separately or in any suitable sub-combination in multiple specific implementations. Additionally, although features may have been described above as acting in certain combinations and even initially claimed as such, one or more features from the claimed combination may in some cases be excluded from the combination, and the claimed combination may be directed to a sub-combination or variation of a sub-combination.

[0213] Similarly, although operations are depicted in the drawings in a particular order, this should not be construed as requiring that such operations be performed in the particular order shown or in a sequential order, or that all illustrated operations be performed to achieve the desired result. Additionally, the figures may schematically depict one or more example processes in the form of a flowchart. However, other operations not depicted may be incorporated into the example processes schematically illustrated. For example, one or more additional operations may be performed before, after, concurrently with, or between any of the illustrated operations. In certain environments, multitasking and parallel processing may be advantageous. Further, the separation of various system components in the specific embodiments described above should not be construed as requiring such separation in all specific embodiments, and it should be understood that the described program components and systems may generally be integrated together in a single software product or packaged into multiple software products. Additionally, some other specific embodiments also fall within the scope of the appended claims. In some cases, the acts recited in the claims may be performed in a different order and still achieve the desired result.

[0214] As used herein (including in the claims), the term "or" as used in a list of two or more items means that any one of the listed items can be employed individually, or any combination of two or more of the listed items can be employed. For example, if a composition is described as containing components A, B, or C, the composition can contain A alone; B alone; C alone; a combination of A and B; a combination of A and C; a combination of B and C; or a combination of A, B, and C. Additionally, as used herein (including in the claims), "or" as used in a list of items beginning with "at least one of" indicates a disjunctive list, such that a list of "at least one of A, B, or C" means A or B or C or AB or AC or BC or ABC (i.e., A and B and C) or any combination of any of these items. The term "substantially" is defined as being largely but not necessarily wholly that which is specified (and includes that which is specified; e.g., substantially 90 degrees includes 90 degrees, and substantially parallel includes parallel), as understood by one of ordinary skill in the art. In any of the disclosed specific embodiments, the term "substantially" may be replaced with "[percentage] within" that which is specified, where the percentage includes 0.1%, 1%, 5%, or 10%.

[0215] The foregoing description of the disclosure has been provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of wireless communication performed by a user equipment (UE), the method comprising: Receiving a first image of an object from an image capture device; And Receiving location information, the location information including coordinate points, a positioning of the UE determined based on the coordinate points, or a combination thereof, the coordinate points being generated based on: A relative orientation between the UE and a network entity; And Matched point pairs, the matched point pairs including a first point of the first image and a second point of a second image of the object captured by the network entity.

2. The method according to claim 1, the method further comprising: Capturing a first image by the first image capture device of the UE, and Wherein the location information includes auxiliary information, and Wherein the coordinate points include virtual access three-dimensional (3D) points.

3. The method according to claim 1, the method further comprising: Receiving configuration information associated with one or more visual features; Determining the first point based on the configuration information, the first point including key points; And Transmitting location information indicating the first point, a feature descriptor, or a combination thereof.

4. The method according to claim 3, wherein the configuration information indicates a key point detection technique, a feature descriptor of one or more key points, a quantity of the one or more key points, a location or direction of the one or more key points, parameters of an image capture device, or a combination thereof.

5. The method according to claim 1, the method further comprising: Receiving a positioning reference signal from the network entity; Determining a channel impulse response based on the positioning reference signal; And Transmitting location information indicating the channel impulse response.

6. The method according to claim 1, wherein the location information indicates the coordinate points and multipath components based on a channel impulse response measured by the UE.

7. The method according to claim 1, the method further comprising: Determining the positioning of the UE based on the location information; And Adjusting an angle of a receiving beam to have an angle of departure associated with the coordinate points, the coordinate points being associated with a reflection point.

8. The method according to claim 1, wherein: The network entity includes a base station, a roadside unit, or another UE; and The location information is received from a location management function.

9. A user equipment (UE), the user equipment (UE) comprising: A memory storing processor-readable code; And At least one processor coupled to the memory, the at least one processor being configured to execute the processor-readable code to cause the at least one processor: Receive a first image of an object from an image capture device; And Receive location information, the location information including coordinate points associated with the object, a positioning of the UE determined based on the coordinate points, or a combination thereof, the coordinate points being determined based on: A relative orientation between the UE and a network entity; And Matched point pairs, the matched point pairs including a first point of the first image and a second point of a second image of the object captured by the network entity.

10. The UE according to claim 9, the UE further comprising: the image capture device; and wherein the at least one processor is configured to execute the processor-readable code to cause the at least one processor to: receive configuration information associated with one or more visual features; determine the first point based on the configuration information, the first point including key points; and send positioning information indicating the first point, a feature descriptor, or a combination thereof.

11. The UE according to claim 10, wherein the configuration information indicates a key point detection technique, a feature descriptor of one or more key points, the number of the one or more key points, the position or orientation of the one or more key points, parameters of the image capture device, or a combination thereof.

12. The UE according to claim 9, wherein the at least one processor is configured to execute the processor-readable code to cause the at least one processor to: receive a positioning reference signal from the network entity; and determine a channel impulse response based on the positioning reference signal; and send positioning information indicating the channel impulse response.

13. The UE according to claim 9, wherein: the position information indicates the coordinate point and the multipath components based on the channel impulse response measured by the UE; and the at least one processor is configured to execute the processor-readable code to cause the at least one processor to: determine the positioning of the UE based on the position information; and adjust the angle of the received beam to have an angle of departure associated with the coordinate point, the coordinate point being associated with a reflection point.

14. The UE according to claim 9, wherein: the network entity includes a base station, a roadside unit, or another UE; or the position information is received from a location management function.

15. A method for wireless communication performed by a network node, the method comprising: generating a coordinate point based on: the relative orientation between a user equipment (UE) and a network entity; and a pair of matching image points, the pair of matching image points including a first point of a first image of an object captured by the UE and a second point of a second image of the object captured by the network entity; and sending position information to the UE, the position information indicating the coordinate point, the positioning of the UE determined based on the coordinate point, or a combination thereof.

16. The method according to claim 15, the method further comprising: generating configuration information associated with one or more visual features; and sending the configuration information to the UE, the network entity, or a combination thereof.

17. The method according to claim 16, wherein the configuration information indicates a key point detection technique, a feature descriptor of one or more key points, the number of the one or more key points, the position or orientation of the one or more key points, parameters of the image capture device, or a combination thereof.

18. The method according to claim 16, the method further comprising: receiving positioning information from the UE, and Wherein the positioning information includes feature information, a channel impulse response, or a combination thereof, the feature information is based on the first image, and the feature information is generated based on the configuration information sent to the UE.

19. The method according to claim 15, wherein the method further comprises: Capturing the second image; Determining one or more pairs of matching image points based on the first image and the second image, the one or more pairs of matching image points including the pair of matching image points based on the first point and the second point; Determining a relative pose based on the one or more pairs of matching image points; And Determining the coordinate point based on the relative pose and the translation between the network entity and the UE.

20. The method according to claim 15, wherein the method further comprises: Sending a positioning reference signal; Receiving a channel impulse response from the UE, the channel impulse response being based on the positioning reference signal; And Determining multipath components based on the channel impulse response, and Wherein the position information further indicates the multipath components.

21. The method according to claim 15, wherein the method further comprises: Determining the positioning of the UE based on the coordinate point, and Wherein determining the positioning includes positioning the UE based on the coordinate point.

22. The method according to claim 15, the method further comprising: Adjusting the angle of the beam of the network entity based on the coordinate point.

23. The method according to claim 15, wherein the network node includes a location management function.

24. The method according to claim 15, wherein the network entity includes a base station, a roadside unit, the network node, or another UE.

25. A network node, the network node comprising: A memory storing processor-readable code; And At least one processor coupled to the memory, the at least one processor being configured to execute the processor-readable code to cause the at least one processor to: Generate a coordinate point based on: The relative orientation between a user equipment (UE) and a network entity; and A pair of matching image points, the pair of matching image points including a first point of a first image of an object captured by the UE and a second point of a second image of the object captured by the network entity; And Send location information to the UE, the location information indicating the coordinate point, the positioning of the UE determined based on the coordinate point, or a combination thereof.

26. The network node according to claim 25, wherein the at least one processor is configured to execute the processor-readable code to cause the at least one processor to: Generate configuration information associated with one or more visual features; and Send the configuration information to the UE, the network entity, or a combination thereof.

27. The network node according to claim 26, wherein the at least one processor is configured to execute the processor-readable code to cause the at least one processor to: Receive positioning information from the UE, and Wherein the positioning information includes feature information, a channel impulse response, or a combination thereof, the feature information is based on the first image, and the feature information is generated based on the configuration information sent to the UE.

28. The network node according to claim 25, wherein the network node further comprises: an image capture device configured to capture the second image, and wherein the at least one processor is configured to execute the processor-readable code to cause the at least one processor to: determine one or more pairs of matching image points based on the first image and the second image, the one or more pairs of matching image points including the pair of matching image points based on the first point and the second point; determine a relative pose based on the one or more pairs of matching image points; and determine the coordinate point based on the relative pose and the translation between the network entity and the UE.

29. The network node according to claim 25, wherein the at least one processor is configured to execute the processor-readable code to cause the at least one processor to: send a positioning reference signal; receive a channel impulse response from the UE, the channel impulse response being based on the positioning reference signal; and determine multipath components based on the channel impulse response, and wherein the position information further indicates the multipath components.

30. The network node according to claim 25, wherein the at least one processor is configured to execute the processor-readable code to cause the at least one processor to: determine the positioning of the UE based on the coordinate point, and wherein determining the positioning includes positioning the UE based on the coordinate point.

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