Heterogeneous point cloud reporting in cellular systems

Abstract

A first network entity may send an indication of a point cloud reporting capability of the first network entity for a second network entity. The point cloud reporting capabilities of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The point cloud reporting capability of the first network entity may correspond to one or more of at least one reportable attribute, a point cloud source, or a frequency of point cloud generation. The point cloud source may correspond to at least one of a cellular transceiver, an FMCW radar, a Wi-Fi transceiver, or a lidar device. The first network entity may identify a first point cloud based on non-cellular sensing. The first network entity may send a first indication of the first point cloud for the second network entity based on the point cloud reporting capability of the first network entity.

Description

[0001] Cross - Reference to Related Applications

[0002] This application claims the benefit of U.S. Patent Application No. 18 / 054,519, filed on November 10, 2022, and entitled "HETEROGENEOUS POINT CLOUD REPORTING IN CELLULAR SYSTEMS", which is hereby incorporated by reference in its entirety. Technical Field

[0003] This disclosure relates generally to communication systems, and more particularly, to point cloud reporting associated with sensing in a wireless communication system. Background Art

[0004] Wireless communication systems are widely deployed to provide various telecommunication services such as telephony, video, data, messaging, and broadcasting. A typical wireless communication system may employ a multiple access technology capable of supporting communication with multiple users by sharing available system resources. Examples of such multiple access technologies include Code Division Multiple Access (CDMA) systems, Time Division Multiple Access (TDMA) systems, Frequency Division Multiple Access (FDMA) systems, Orthogonal Frequency Division Multiple Access (OFDMA) systems, Single - Carrier Frequency Division Multiple Access (SC - FDMA) systems, and Time Division Synchronous Code Division Multiple Access (TD - SCDMA) systems.

[0005] These multiple access technologies have been adopted in various telecommunication standards to provide a common protocol that enables different wireless devices to communicate at the urban, national, regional, and even global levels. An example telecommunication standard is 5G New Radio (NR). 5G NR is part of the ongoing evolution of mobile broadband promulgated by the Third Generation Partnership Project (3GPP) to meet new requirements associated with latency, reliability, security, scalability (e.g., related to the Internet of Things (IoT)), and other requirements. 5G NR includes services associated with Enhanced Mobile Broadband (eMBB), Massive Machine - Type Communication (mMTC), and Ultra - Reliable Low - Latency Communication (URLLC). Some aspects of 5G NR may be based on the 4G Long - Term Evolution (LTE) standard. Further improvements to 5G NR technology are needed. Additionally, these improvements may also be applicable to other multiple access technologies and telecommunication standards that employ these technologies. Summary of the Invention

[0006] A simplified summary of one or more aspects is presented below in order to provide a basic understanding of these aspects. This summary is not an extensive overview of all contemplated aspects. The summary neither identifies key or critical elements of all aspects nor describes the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

[0007] In one aspect of the present disclosure, a method, a computer-readable medium, and a device are provided. The device may be a first network entity. The device may send an indication of the point cloud reporting capability of the first network entity to a second network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The device may identify a first point cloud based on non-cellular sensing. The device may send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity.

[0008] In one aspect of the present disclosure, a method, a computer-readable medium, and a device are provided. The device may be a second network entity. The device may receive an indication of the point cloud reporting capability of the first network entity from the first network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The device may receive a first indication of the first point cloud from the first network entity based on the point cloud reporting capability of the first network entity. The first point cloud may be based on non-cellular sensing.

[0009] To achieve the foregoing and related purposes, one or more aspects include the features described in detail below and particularly pointed out in the claims. The following description and the drawings set forth in detail some illustrative features of one or more aspects. However, these features are indicative of only some of the various ways in which the principles of the various aspects may be employed. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a diagram illustrating an example of a wireless communication system and an access network.

[0011] Figure 2A is a diagram illustrating an example of a first frame according to various aspects of the present disclosure.

[0012] Figure 2B is a diagram illustrating an example of a downlink (DL) channel within a subframe according to various aspects of the present disclosure.

[0013] Figure 2C is a diagram illustrating an example of a second frame according to various aspects of the present disclosure.

[0014] Figure 2D is a diagram illustrating an example of an uplink (UL) channel within a subframe according to various aspects of the present disclosure.

[0015] Figure 3 is a diagram illustrating an example of a base station and a user equipment (UE) in an access network.

[0016] Figure 4 is a diagram illustrating an example of UE positioning based on reference signal measurements.

[0017] Figure 5 is a diagram illustrating example radar points and lidar points associated with sensing of a vehicle.

[0018] Figure 6 is a diagram of a communication flow of a wireless communication method.

[0019] Figure 7 is a flowchart of a wireless communication method.

[0020] Figure 8 is a flowchart of a wireless communication method.

[0021] Figure 9 is a flowchart of a wireless communication method.

[0022] Figure 10 is a flowchart of a wireless communication method.

[0023] Figure 11 is a diagram illustrating examples of hardware implementations for example devices and / or network entities.

[0024] Figure 12 is a diagram illustrating examples of hardware implementations for example network entities.

[0025] Figure 13 is a diagram illustrating examples of hardware implementations for example network entities. DETAILED DESCRIPTION

[0026] A UE (or a base station, a transmission and reception point (TRP), etc.) having access to suitable sensors or equipped with suitable sensors may generate a point cloud that can represent the perception of the UE (or the base station, the TRP, etc.) of its surrounding environment. For example, a vehicle UE (e.g., a connected car) equipped with a frequency modulated continuous wave (FMCW) transceiver may be able to generate a point cloud representing the perception of the vehicle UE of the surrounding environment. Hereinafter, a point cloud generated based on a non-cellular waveform (i.e., a waveform not associated with a cellular wireless communication system) may be referred to as a non-cellular point cloud. Thus, a UE (or a base station, a TRP, etc.) may generate a cellular point cloud (i.e., a point cloud generated using the capabilities of a cellular wireless communication system including a cellular radio frequency (RF) waveform) and a non-cellular point cloud. The result may be a set of heterogeneous point clouds generated by the UE (or the base station, the TRP, etc.).

[0027] According to one or more aspects, a first network entity may send an indication of the point cloud reporting capability of the first network entity to a second network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The first network entity may identify a first point cloud based on non-cellular sensing. The first network entity may send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity. Thus, the non-cellular point cloud may be reported to the sensing entity by the entity performing the sensing / reporting, either alone or together with the cellular point cloud.

[0028] The detailed description set forth below in connection with the accompanying drawings is a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. For a thorough understanding of the various concepts, the detailed description includes specific details. However, the concepts may be practiced without these specific details. In some instances, well-known structures and components are shown in block diagram form to avoid obscuring such concepts.

[0029] Certain aspects of the telecommunications system are presented with reference to various apparatuses and methods. These apparatuses and methods are described in the following detailed description and illustrated in the accompanying drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as "elements"). These elements may be implemented using either electronic hardware, computer software, or any combination thereof. Whether an element is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system.

[0030] As an example, an element, or any portion of the element, or any combination of the elements may be implemented as a "processing system" that includes one or more processors. Examples of processors include a microprocessor, a microcontroller, a graphics processing unit (GPU), a central processing unit (CPU), an application processor, a digital signal processor (DSP), a reduced instruction set computing (RISC) processor, a system on a chip (SoC), a baseband processor, a field programmable gate array (FPGA), a programmable logic device (PLD), a state machine, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functions described throughout this disclosure. One or more processors in the processing system may execute software. Software should be construed broadly to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software components, applications, software applications, software packages, routines, subroutines, objects, executables, execution threads, procedures, functions, or any combination thereof, regardless of whether it is referred to as software, firmware, middleware, microcode, hardware description language, or other terms.

[0031] Thus, in one or more example aspects, embodiments, and / or use cases, the described functionality may be implemented in hardware, software, or any combination thereof. If implemented in software, the functionality may be stored or encoded on a computer-readable medium as one or more instructions or code. Computer-readable media includes computer storage media. Storage media can be any available media that can be accessed by a computer. By way of example, such computer-readable media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable ROM (EEPROM), optical disk storage, magnetic disk storage, other magnetic storage devices, combinations of these types of computer-readable media, or any other media that can be used to store computer-executable code in the form of instructions or data structures that can be accessed by a computer.

[0032] Although aspects, embodiments, and / or use cases are described herein by way of some example illustrations, additional or different aspects, embodiments, and / or use cases may arise in many different arrangements and scenarios. The aspects, embodiments, and / or use cases described herein may be implemented across many different platform types, devices, systems, shapes, sizes, and packaging arrangements. For example, aspects, embodiments, and / or use cases may be embodied 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 be specifically targeted at use cases or applications, the described examples may have broad applicability. Aspects, embodiments, and / or use cases may range from chip-level or modular components to non-modular, non-chip-level embodiments, and further to aggregated, distributed, or original equipment manufacturer (OEM) devices or systems that incorporate one or more of the technologies herein. In some actual settings, devices incorporating the described aspects and features may also 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, RF chains, power amplifiers, modulators, buffers, processors, interleavers, adders / summers, etc.). The various technologies described herein may be practiced in a wide variety of devices, chip-level components, systems, distributed arrangements, aggregated components, or disaggregated components, end-user devices, etc., of various sizes, shapes, and configurations.

[0033] The deployment of a communication system such as a 5G NR system can be arranged in various ways with various components or constituent parts. In a 5G NR system or network, network nodes, network entities, mobility elements of the network, radio access network (RAN) nodes, core network nodes, network elements or network equipment (such as a base station (BS)) or one or more units (or one or more components) performing base station functions can be implemented in an aggregated or disaggregated architecture. For example, a BS (such as a Node B (NB), evolved NB (eNB), NR BS, 5G NB, access point (AP), transmit receive point (TRP) or cell, etc.) can be implemented as an aggregated base station (also referred to as a stand-alone BS or monolithic BS) or a disaggregated base station.

[0034] An aggregated base station can be configured to utilize a radio protocol stack physically or logically integrated within a single RAN node. A disaggregated base station can be configured to utilize a protocol stack physically or logically distributed between two or more units (such as one or more central or centralized units (CUs), one or more distributed units (DUs) or one or more radio units (RUs)). In some aspects, a CU can be implemented within a RAN node, and one or more DUs can be co-located with the CU, or alternatively, can be geographically or virtually distributed in one or more other RAN nodes. A DU can be implemented to communicate with one or more RUs. Each of the CU, DU, and RU can be implemented as a virtual unit, i.e., a virtual central unit (VCU), a virtual distributed unit (VDU) or a virtual radio unit (VRU).

[0035] Base station operation or network design can consider the aggregation characteristics of base station functionality. For example, a disaggregated base station can be used in an integrated access backhaul (IAB) network, an open radio access network (O-RAN (such as a network configuration initiated by the O-RAN Alliance)) or a virtualized radio access network (vRAN, also referred to as a cloud radio access network (C-RAN)). Disaggregation can include distributing functions across two or more units at various physical locations, as well as virtually distributing the functions of at least one unit, which can achieve flexibility in network design. The various units of a disaggregated base station or disaggregated RAN architecture can be configured for wired or wireless communication with at least one other unit.

[0036] Figure 1FIG. 100 is a diagram illustrating an example of a wireless communication system and an access network. The illustrated wireless communication system includes a split base station architecture. The split base station architecture may include one or more CUs 110 that may communicate directly with a core network 120 via a backhaul link, or indirectly with the core network 120 through one or more split base station units (such as a near real-time (near RT) RAN intelligent controller (RIC) 125 via an E2 link, or a non-real-time (non RT) RIC 115 associated with a service management and orchestration (SMO) framework 105, or both). The CU 110 may communicate with one or more DUs 130 via a respective midhaul link such as an F1 interface. The DU 130 may communicate with one or more RUs 140 via a respective fronthaul link. The RU 140 may communicate with a respective UE 104 via one or more radio frequency (RF) access links. In some embodiments, the UE 104 may be served simultaneously by multiple RUs 140.

[0037] Each of the units (i.e., CU 110, DU 130, RU 140, and near RT RIC 125, non RT RIC 115, and SMO framework 105) may include one or more interfaces or be coupled to one or more interfaces that are configured to receive or transmit signals, data, or information (collectively referred to as signals) via a wired or wireless transmission medium. Each of these units, or an associated processor or controller that provides instructions to the communication interfaces of these units, may be configured to communicate with one or more of the other units via the transmission medium. For example, these units may include a wired interface that is configured to receive signals or transmit signals to one or more of the other units via a wired transmission medium. Additionally, these units may include a wireless interface that may include a receiver, transmitter, or transceiver (such as an RF transceiver) that is configured to receive and / or transmit signals to one or more of the other units via a wireless transmission medium.

[0038] In some aspects, the CU 110 may host one or more higher layer control functions. Such control functions may include Radio Resource Control (RRC), Packet Data Convergence Protocol (PDCP), Service Data Adaptation Protocol (SDAP), etc. Each control function may be implemented using an interface configured to signal with other control functions hosted by the CU 110. The CU 110 may be configured to handle user plane functionality (i.e., Central Unit - User Plane (CU-UP)), control plane functionality (i.e., Central Unit - Control Plane (CU-CP)), or a combination thereof. In some embodiments, the CU 110 may be logically divided into one or more CU-UP units and one or more CU-CP units. When implemented in an O-RAN configuration, the CU-UP units may communicate bidirectionally with the CU-CP units via an interface such as the E1 interface. As needed, the CU 110 may be implemented to communicate with the DU 130 for network control and signaling.

[0039] The DU 130 may correspond to a logical unit that includes one or more base station functions for controlling the operation of one or more RUs 140. In some aspects, the DU 130 may host at least part of the Radio Link Control (RLC) layer, the Medium Access Control (MAC) layer, and one or more high Physical (PHY) layers (such as modules for forward error correction (FEC) encoding and decoding, scrambling, modulation and demodulation, etc.) based at least in part on a functional split (such as those defined by 3GPP). In some aspects, the DU 130 may also host one or more low PHY layers. Each layer (or module) may be implemented using an interface configured to signal with other layers (and modules) hosted by the DU 130 or with control functions hosted by the CU 110.

[0040] The lower layer functions may be implemented by one or more RUs 140. In some deployments, the RUs 140 controlled by the DU 130 may correspond to logical nodes that host RF processing functions or low PHY layer functions (such as performing Fast Fourier Transform (FFT), inverse FFT (iFFT), digital beamforming, Physical Random Access Channel (PRACH) extraction and filtering, etc.) or both, at least in part based on a functional split (such as a lower layer functional split). In such an architecture, the RUs 140 may be implemented to handle over-the-air (OTA) communication with one or more UEs 104. In some embodiments, the real-time and non-real-time aspects of the control plane and user plane communication with the RUs 140 may be controlled by the corresponding DU 130. In some scenarios, this configuration may enable the implementation of the DU 130 and CU 110 in a cloud-based RAN architecture such as a vRAN architecture.

[0041] The SMO framework 105 can be configured to support the RAN deployment and provisioning of non-virtualized network elements and virtualized network elements. For non-virtualized network elements, the SMO framework 105 can be configured to support the deployment of dedicated physical resources for RAN coverage requirements, and these dedicated physical resources can be managed via operation and maintenance interfaces (such as the O1 interface). For virtualized network elements, the SMO framework 105 can be configured to interact with a cloud computing platform (such as the Open Cloud (O-Cloud) 190) to perform network element lifecycle management (such as instantiating virtualized network elements) via a cloud computing platform interface (such as the O2 interface). Such virtualized network elements can include, but are not limited to, CU 110, DU 130, RU 140, and the near RT RIC 125. In some specific implementations, the SMO framework 105 can communicate with the hardware aspects of the 4G RAN (such as the Open eNB (O-eNB) 111) via the O1 interface. Additionally, in some specific implementations, the SMO framework 105 can communicate directly with one or more RUs 140 via the O1 interface. The SMO framework 105 can also include a non-RT RIC 115 configured to support the functions of the SMO framework 105.

[0042] The non-RT RIC 115 can be configured to include logical functions that can implement non-real-time control and optimization of RAN elements and resources, artificial intelligence (AI) / machine learning (ML) (AI / ML) workflows including model training and updating, or policy-based guidance of applications / features in the near RT RIC 125. The non-RT RIC 115 can be coupled to or communicate with the near RT RIC 125 (such as via the A1 interface). The near RT RIC 125 can be configured to include logical functions that enable near-real-time control and optimization of RAN elements and resources through interfaces (such as via the E2 interface) via data collection and actions, and this interface connects one or more CUs 110, one or more DUs 130, or both, and the O-eNB to the near RT RIC 125.

[0043] In some specific implementations, to generate the AI / ML models to be deployed in the near-RT RIC 125, the non-RT RIC 115 may receive parameters or external enrichment information from an external server. Such information can be utilized by the near-RT RIC 125 and can be received from non-network data sources or from network functions at the SMO framework 105 or the non-RT RIC 115. In some examples, the non-RT RIC 115 or the near-RT RIC 125 may be configured to tune RAN behavior or performance. For example, the non-RT RIC 115 may monitor long-term trends and patterns of performance and employ an AI / ML model to perform corrective actions via the SMO framework 105 (such as reconfiguration via O1) or via creating RAN management policies (such as A1 policies).

[0044] At least one of the CU 110, DU 130, and RU 140 may be referred to as the base station 102. Thus, the base station 102 may include one or more of the CU 110, DU 130, and RU 140 (each component is indicated by a dashed line to represent that each component may or may not be included in the base station 102). The base station 102 provides an access point to the core network 120 for the UE 104. The base station 102 may include macro cells (high-power cellular base stations) and / or small cells (low-power cellular base stations). Small cells include femtocells, picocells, and microcells. A network including both small cells and macro cells may be referred to as a heterogeneous network. The heterogeneous network may also include a home evolved Node B (eNB) (HeNB) that may provide services to a restricted group known as a closed subscriber group (CSG). The communication link between the RU 140 and the UE 104 may include an uplink (UL) (also referred to as a reverse link) transmission from the UE 104 to the RU 140 and / or a downlink (DL) (also referred to as a forward link) transmission from the RU 140 to the UE 104. The communication link may use multiple-input multiple-output (MIMO) antenna technology, including spatial multiplexing, beamforming, and / or transmit diversity. The communication link may pass through one or more carriers. For each carrier allocated in carrier aggregation with a total of up to Yx MHz (x component carriers) for transmission in each direction, the base station 102 / UE 104 may use a spectrum with a bandwidth of up to Y MHz (e.g., 5 MHz, 10 MHz, 15 MHz, 20 MHz, 100 MHz, 400 MHz, etc.). These carriers may or may not be adjacent to each other. The allocation of carriers may be asymmetric for the DL and UL (e.g., more or fewer carriers may be allocated for the DL compared to the UL). Component carriers may include a primary component carrier and one or more secondary component carriers. The primary component carrier may be referred to as the primary cell (PCell) and the secondary component carriers may be referred to as secondary cells (SCells).

[0045] Some UEs 104 may communicate with each other using device-to-device (D2D) communication links 158. The D2D communication links 158 may use DL / UL wireless wide area network (WWAN) spectrum. The D2D communication links 158 may use one or more sidelink channels, such as the physical sidelink broadcast channel (PSBCH), the physical sidelink discovery channel (PSDCH), the physical sidelink shared channel (PSSCH), and the physical sidelink control channel (PSCCH). D2D communication may be through various wireless D2D communication systems, such as, for example, Bluetooth, Wi-Fi based on the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standards, LTE, or NR.

[0046] The wireless communication system may also include a Wi-Fi AP 150 that communicates with a UE 104 (also referred to as a Wi-Fi station (STA)) via a communication link 154, such as in a 5 GHz unlicensed spectrum, etc. When communicating in the unlicensed spectrum, the UE 104 / AP 150 may perform a clear channel assessment (CCA) before communication to determine whether the channel is available.

[0047] The electromagnetic spectrum is generally subdivided into various categories, frequency bands, channels, etc. based on frequency / wavelength. In 5G NR, two initial operating frequency bands have been identified as frequency range designations FR1 (410 MHz - 7.125 GHz) and FR2 (24.25 GHz - 52.6 GHz). Although a part of FR1 is greater than 6 GHz, in various documents and articles, FR1 is generally referred to (interchangeably) as the "sub-6 GHz" band. Regarding FR2, a similar naming issue sometimes occurs, which is generally (interchangeably) referred to as the "millimeter wave" band in documents and articles, although it is different from the extremely high frequency (EHF) band (30 GHz - 300 GHz) identified by the International Telecommunication Union (ITU) as the "millimeter wave" band.

[0048] The frequencies between FR1 and FR2 are generally referred to as mid-band frequencies. Recent 5G NR research has identified operating frequency bands for these mid-band frequencies as frequency range designations FR3 (7.125 GHz - 24.25 GHz). The bands falling within FR3 may inherit FR1 characteristics and / or FR2 characteristics, and thus can effectively extend the features of FR1 and / or FR2 to the mid-band frequencies. In addition, higher frequency bands are currently being explored to extend 5G NR operation beyond 52.6 GHz. For example, three higher operating frequency bands have been identified as frequency range designations FR2-2 (52.6 GHz - 71 GHz), FR4 (71 GHz - 114.25 GHz), and FR5 (114.25 GHz - 300 GHz). Each of these higher frequency bands falls within the EHF band.

[0049] In view of the above aspects, unless otherwise specifically stated, if terms such as "below 6 GHz" are used herein, they can broadly represent frequencies that can be less than 6 GHz, can be within FR1, or can include intermediate band frequencies. Additionally, unless otherwise specifically stated, if terms such as "millimeter wave" are used herein, they can broadly represent frequencies that can include intermediate band frequencies, can be within FR2, FR4, FR2-2, and / or FR5, or can be within the EHF band.

[0050] Base station 102 and UE 104 may each include multiple antennas (such as antenna elements, antenna panels, and / or antenna arrays) to facilitate beamforming. Base station 102 may transmit beamformed signal 182 to UE 104 in one or more transmission directions. UE 104 may receive the beamformed signal from base station 102 in one or more reception directions. UE 104 may also transmit beamformed signal 184 to base station 102 in one or more transmission directions. Base station 102 may receive the beamformed signal from UE 104 in one or more reception directions. Base station 102 / UE 104 may perform beam training to determine the optimal reception and transmission directions for each of base station 102 / UE 104. The transmission direction and reception direction of base station 102 may be the same or may not be the same. The transmission direction and reception direction of UE 104 may be the same or may not be the same.

[0051] Base station 102 may include and / or be referred to as gNB, Node B, eNB, access point, base station transceiver, radio base station, radio transceiver, transceiver function, basic service set (BSS), extended service set (ESS), transmission reception point (TRP), network node, network entity, network equipment, or some other suitable term. Base station 102 may be implemented as an integrated access and backhaul (IAB) node, relay node, sidelink node, a converged (monolithic) base station with a baseband unit (BBU) (including CU and DU) and RU, or may be implemented as a decomposed base station including one or more of CU, DU, and / or RU. A set of base stations including decomposed base stations and / or converged base stations may be referred to as next generation (NG) RAN (NG-RAN).

[0052] The core network 120 may include an Access and Mobility Management Function (AMF) 161, a Session Management Function (SMF) 162, a User Plane Function (UPF) 163, a Unified Data Management (UDM) 164, one or more location servers 168, and other functional entities. The AMF 161 is a control node that processes signaling between the UE 104 and the core network 120. The AMF 161 supports registration management, connection management, mobility management, and other functions. The SMF 162 supports session management and other functions. The UPF 163 supports packet routing, packet forwarding, and other functions. The UDM 164 supports the generation of Authentication and Key Agreement (AKA) credentials, user identity handling, access authorization, and subscription management. One or more location servers 168 are illustrated as including a Gateway Mobile Location Center (GMLC) 165 and a Location Management Function (LMF) 166. However, generally speaking, one or more location servers 168 may include one or more location / locationing servers, which may include one or more of the GMLC 165, the LMF 166, a Position Determination Entity (PDE), a Serving Mobile Location Center (SMLC), a Mobile Positioning Center (MPC), etc. The GMLC 165 and the LMF 166 support UE location services. The GMLC 165 provides an interface for clients / applications (e.g., emergency services) to access UE location information. The LMF 166 receives measurement and assistance information from the NG-RAN and the UE 104 via the AMF 161 to calculate the location of the UE 104. The NG-RAN may utilize one or more positioning methods to determine the location of the UE 104. Positioning the UE 104 may involve signal measurements, location estimation, and optional speed calculation based on these measurements. The signal measurements may be performed by the UE 104 and / or the serving base station 102. The measured signals may be based on a Satellite Positioning System (SPS) 170 (e.g., a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), a Non-Terrestrial Network (NTN), or one or more of other satellite positioning / locationing systems), an LTE signal, a Wireless Local Area Network (WLAN) signal, a Bluetooth signal, a Terrestrial Beacon System (TBS), sensor-based information (e.g., an atmospheric pressure sensor, a motion sensor), an NR Enhanced Cell ID (NR E-CID) method, an NR signal (e.g., multi-round-trip time (multi-RTT), DL Angle of Departure (DL-AoD), DL Time Difference of Arrival (DL-TDOA), UL Time Difference of Arrival (UL-TDOA), and UL Angle of Arrival (UL-AoA) positioning), and / or one or more of other systems / signals / sensors.

[0053] Examples of the UE 104 include cellular phones, smartphones, Session Initiation Protocol (SIP) phones, laptop computers, personal digital assistants (PDAs), satellite radios, global positioning systems, multimedia devices, video devices, digital audio players (e.g., MP3 players), cameras, game consoles, tablet computers, smart devices, wearable devices, vehicles, electricity meters, gas pumps, large or small kitchen appliances, healthcare devices, implants, sensors / actuators, displays, or any other similar functional devices. Some of the UEs in the UE 104 may be referred to as IoT devices (e.g., parking meters, gas pumps, toasters, vehicles, heart monitors, etc.). The UE 104 may also be referred to as a station, mobile station, subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, cellular phone, user agent, mobile client, client, or some other suitable term. In some scenarios, the term UE may also apply to one or more companion devices, such as in a device constellation arrangement. One or more of these devices may access the network jointly and / or access the network individually.

[0054] Referring again to Figure 1 , in some aspects, the UE 104 (e.g., when operating as a first network entity) may include a point cloud component 198 that may be configured to send an indication of the point cloud reporting capability of the first network entity to a second network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The point cloud component 198 may be configured to identify a first point cloud based on non-cellular sensing. The point cloud component 198 may be configured to send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity. In some aspects, the base station 102 (e.g., when operating as a first network entity) may include a point cloud component 199 that may be configured to send an indication of the point cloud reporting capability of the first network entity to a second network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The point cloud component 199 may be configured to identify a first point cloud based on non-cellular sensing. The point cloud component 199 may be configured to send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity. Although the following description may focus on 5G NR, the concepts described herein may be applicable to other similar domains, such as LTE, LTE-A, CDMA, GSM, and other wireless technologies.

[0055] Figure 2A FIG. 200 is a diagram illustrating an example of a first subframe within the 5G NR frame structure. Figure 2BFIG. 230 is an illustration example of DL channels within a 5G NR subframe. Figure 2C FIG. 250 is an illustration example of a second subframe within a 5G NR frame structure. Figure 2D FIG. 280 is an illustration example of UL channels within a 5G NR subframe. The 5G NR frame structure can be Frequency Division Duplexing (FDD) (where for a specific set of subcarriers (carrier system bandwidth), the subframes within that set of subcarriers are dedicated to DL or UL), or can be Time Division Duplexing (TDD) (where for a specific set of subcarriers (carrier system bandwidth), the subframes within that set of subcarriers are dedicated to both DL and UL). In Figure 2A 、 Figure 2C the example provided, the 5G NR frame structure is assumed to be TDD, where subframe 4 is configured with slot format 28 (where most are DL), where D is DL, U is UL, and F is flexibly usable between DL / UL, and subframe 3 is configured with slot format 1 (where all are UL). Although subframes 3, 4 are shown as having slot formats 1, 28 respectively, any particular subframe can be configured with any of the various available slot formats 0 - 61. Slot formats 0, 1 are all - DL, all - UL respectively. The other slot formats 2 - 61 include a mixture of DL, UL, and flexible symbols. The UE is configured with the slot format by the received Slot Format Indicator (SFI) (configured dynamically by Downlink Control Information (DCI) or semi - statically / statically by Radio Resource Control (RRC) signaling). Note that the following description also applies to the 5G NR frame structure as TDD.

[0056] Figures 2A to 2D An example of the frame structure is illustrated, and aspects of the present disclosure can be applicable to other wireless communication technologies that may have different frame structures and / or different channels. One frame (10 ms) can be divided into 10 equal - sized subframes (1 ms). Each subframe can include one or more slots. A subframe can also include mini - slots, which can include 7, 4, or 2 symbols. Each slot can include 14 or 12 symbols, depending on whether the Cyclic Prefix (CP) is normal or extended. For normal CP, each slot can include 14 symbols, and for extended CP, each slot can include 12 symbols. The symbols on the DL can be Cyclic Prefix Orthogonal Frequency Division Multiplexing (CP - OFDM) symbols. The symbols on the UL can be CP - OFDM symbols (for high - throughput scenarios) or Discrete Fourier Transform (DFT) - spread OFDM (DFT - s - OFDM) symbols (for power - constrained scenarios; limited to single - stream transmission). The number of slots within a subframe is based on the CP and the parameter set. The parameter set defines the Sub - Carrier Spacing (SCS) (see Table 1). The symbol length / duration can be scaled with 1 / SCS.

[0057]

[0058] Table 1: Parameter Sets, SCS, and CP

[0059] For normal CP (14 symbols / slot), different parameter sets μ0 to 4 allow 1, 2, 4, 8, and 16 slots per subframe respectively. For extended CP, parameter set 2 allows 4 slots per subframe. Thus, for normal CP and parameter set μ, there are 14 symbols / slot and 2 μ slots / subframe. The subcarrier spacing can be equal to 2 μ *15 kHz, where μ is parameter set 0 to 4. Thus, the subcarrier spacing for parameter set μ = 0 is 15 kHz, and the subcarrier spacing for parameter set μ = 4 is 240 kHz. The symbol length / duration is inversely related to the subcarrier spacing. Figures 2A to 2D An example of normal CP with 14 symbols per slot and parameter set μ = 2 with 4 slots per subframe is provided. The slot duration is 0.25 ms, the subcarrier spacing is 60 kHz, and the symbol duration is approximately 16.67 μs. Within a frame set, there may be one or more different bandwidth parts (BWPs) that are frequency division multiplexed (see Figure 2B ). Each BWP can have a specific parameter set and CP (normal or extended).

[0060] A resource grid can be used to represent the frame structure. Each slot includes a resource block (RB) (also referred to as a physical RB (PRB)) that extends over 12 consecutive subcarriers. The resource grid is divided into multiple resource elements (REs). The number of bits carried by each RE depends on the modulation scheme.

[0061] As Figure 2A illustrated, some of the REs in the RE carry reference (pilot) signals (RSs) for the UE. The RS can include a demodulation RS (DM-RS) (designated as R for a specific configuration, but other DM-RS configurations are possible) and a channel state information reference signal (CSI-RS) for channel estimation at the UE. The RS can also include a beam measurement RS (BRS), a beam refinement RS (BRRS), and a phase tracking RS (PT-RS).

[0062] Figure 2BExamples of various DL channels within a subframe of a frame are illustrated. The Physical Downlink Control Channel (PDCCH) carries DCI within one or more Control Channel Elements (CCEs) (e.g., 1, 2, 4, 8, or 16 CCEs), where each CCE includes six Resource Element Groups (REGs), and each REG includes 12 consecutive Resource Elements (REs) within an OFDM symbol of a Resource Block (RB). The PDCCH within a Bandwidth Part (BWP) can be referred to as a Control Resource Set (CORESET). The UE is configured to monitor PDCCH candidates in a PDCCH search space (e.g., common search space, UE-specific search space) during a PDCCH monitoring occasion on the CORESET, where the PDCCH candidates have different DCI formats and different aggregation levels. Additional BWPs can be located at higher and / or lower frequencies on the channel bandwidth. The Primary Synchronization Signal (PSS) can be within symbol 2 of a specific subframe of a frame. The PSS is used by the UE 104 to determine subframe / symbol timing and the physical layer identity. The Secondary Synchronization Signal (SSS) can be within symbol 4 of a specific subframe of a frame. The SSS is used by the UE to determine the physical layer cell identity group number and radio frame timing. Based on the physical layer identity and the physical layer cell identity group number, the UE can determine the Physical Cell Identifier (PCI). Based on the PCI, the UE can determine the location of the Demodulation Reference Signals (DM-RS). The Physical Broadcast Channel (PBCH) carrying the Master Information Block (MIB) can be logically grouped with the PSS and SSS to form a Synchronization Signal (SS) / PBCH block (also referred to as an SS block (SSB)). The MIB provides the System Frame Number (SFN) and the number of RBs in the system bandwidth. The Physical Downlink Shared Channel (PDSCH) carries user data, broadcast system information not sent via the PBCH (such as System Information Blocks (SIBs)), and paging messages.

[0063] As Figure 2C illustrated, some of the REs carry DM-RS (denoted as R for a specific configuration, but other DM-RS configurations are possible) for channel estimation at the base station. The UE can transmit DM-RS for the Physical Uplink Control Channel (PUCCH) and the Physical Uplink Shared Channel (PUSCH). The PUSCH DM-RS can be transmitted in the previous one or two symbols of the PUSCH. Depending on whether a short PUCCH or a long PUCCH is transmitted and depending on the specific PUCCH format used, the PUCCH DM-RS can be transmitted in different configurations. The UE can transmit a Sounding Reference Signal (SRS). The SRS can be transmitted in the last symbol of a subframe. The SRS can have a comb structure, and the UE can transmit the SRS on one of the combs in the comb structure. The SRS can be used by the base station for channel quality estimation to enable frequency-dependent scheduling of the UL.

[0064] Figure 2DExamples of various UL channels within a subframe of a frame are illustrated. The PUCCH may be located at the position indicated in one configuration. The PUCCH carries uplink control information (UCI), such as a scheduling request, a channel quality indicator (CQI), a precoding matrix indicator (PMI), a rank indicator (RI), and a hybrid automatic repeat request (HARQ) acknowledgement (ACK) (HARQ-ACK) feedback (i.e., one or more HARQ ACK bits indicating one or more ACKs and / or negative ACKs (NACKs)). The PUSCH carries data and may additionally be used to carry a buffer status report (BSR), a power headroom report (PHR), and / or UCI.

[0065] Figure 3 is a block diagram of communication between a base station 310 and a UE 350 in an access network. In the DL, Internet Protocol (IP) packets may be provided to a controller / processor 375. The controller / processor 375 implements layer 3 and layer 2 functionality. Layer 3 includes a radio resource control (RRC) layer, and layer 2 includes a service data adaptation protocol (SDAP) layer, a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, and a media access control (MAC) layer. The controller / processor 375 provides RRC layer functionality associated with the broadcast of system information (e.g., MIB, SIB), RRC connection control (e.g., RRC connection paging, RRC connection establishment, RRC connection modification, and RRC connection release), radio access technology (RAT) - to - RAT mobility, and measurement configuration for UE measurement reporting; PDCP layer functionality associated with header compression / decompression, security (encryption, decryption, integrity protection, integrity verification), and handover support functions; RLC layer functionality associated with the transfer of upper layer packet data units (PDUs), error correction via ARQ, concatenation, segmentation, and reassembly of RLC service data units (SDUs), re - segmentation of RLC data PDUs, and re - ordering of RLC data PDUs; and MAC layer functionality associated with the mapping between logical channels and transport channels, multiplexing of MAC SDUs onto transport blocks (TBs), demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction via HARQ, priority handling, and logical channel prioritization.

[0066] The transmit (TX) processor 316 and the receive (RX) processor 370 implement layer 1 functionality associated with various signal processing functions. Layer 1, which includes the physical (PHY) layer, may include error detection on the transport channel, forward error correction (FEC) encoding / decoding of the transport channel, interleaving, rate matching, mapping to the physical channel, modulation / demodulation of the physical channel, and MIMO antenna processing. The TX processor 316 handles the mapping to signal constellations based on various modulation schemes, such as binary phase shift keying (BPSK), quadrature phase shift keying (QPSK), M-phase phase shift keying (M-PSK), and M-order quadrature amplitude modulation (M-QAM). The encoded and modulated symbols may then be split into parallel streams. Subsequently, each stream may be mapped to OFDM subcarriers, multiplexed with reference signals (e.g., pilots) in the time and / or frequency domain, and then combined together using an inverse fast Fourier transform (IFFT) to generate a physical channel carrying a time-domain OFDM symbol stream. The OFDM stream is precoded in space to generate multiple spatial streams. Channel estimates from the channel estimator 374 may be used to determine the encoding and modulation schemes, as well as for spatial processing. The channel estimates may be derived from reference signals transmitted by the UE 350 and / or channel state feedback. Then, each spatial stream may be provided to a different antenna 320 via a separate transmitter 318Tx. Each transmitter 318Tx may modulate a radio frequency (RF) carrier with the corresponding spatial stream for transmission.

[0067] At the UE 350, each receiver 354Rx receives signals via its corresponding antenna 352. Each receiver 354Rx recovers the information modulated onto the RF carrier and provides the information to the receive (RX) processor 356. The TX processor 368 and the RX processor 356 implement layer 1 functionality associated with various signal processing functions. The RX processor 356 may perform spatial processing on the information to recover any spatial streams destined for the UE 350. If multiple spatial streams are destined for the UE 350, they may be combined by the RX processor 356 into a single OFDM symbol stream. The RX processor 356 then uses a fast Fourier transform (FFT) to convert the OFDM symbol stream from the time domain to the frequency domain. The frequency-domain signal includes a separate OFDM symbol stream for each subcarrier of the OFDM signal. The symbols on each subcarrier, as well as the reference signals, are recovered and demodulated by determining the most likely signal constellation points transmitted by the base station 310. These soft decisions may be based on the channel estimates computed by the channel estimator 358. Then, the soft decisions are decoded and deinterleaved to recover the data and control signals originally transmitted by the base station 310 on the physical channel. The data and control signals are then provided to the controller / processor 359, which implements layer 3 and layer 2 functionality.

[0068] The controller / processor 359 may be associated with a memory 360 that stores program code and data. The memory 360 may be referred to as a computer-readable medium. In the UL, the controller / processor 359 provides demultiplexing between transport channels and logical channels, packet reassembly, decryption, header decompression, and control signal processing to recover IP packets. The controller / processor 359 is also responsible for error detection using the ACK and / or NACK protocols to support HARQ operations.

[0069] Similar to the functionality described in connection with DL transmissions performed by the base station 310, the controller / processor 359 provides RRC layer functionality associated with system information (e.g., MIB, SIB) acquisition, RRC connection, and measurement reporting; PDCP layer functionality associated with header compression / decompression and security (encryption, decryption, integrity protection, integrity verification); RLC layer functionality associated with the transfer of upper layer PDUs, error correction via ARQ, concatenation, segmentation, and reassembly of RLC SDUs, re-segmentation of RLC data PDUs, and reordering of RLC data PDUs; and MAC layer functionality associated with the mapping between logical channels and transport channels, multiplexing of MAC SDUs onto TBs, demultiplexing of MAC SDUs from TBs, scheduling information reporting, error correction via HARQ, priority handling, and logical channel prioritization.

[0070] Channel estimates derived by the channel estimator 358 based on reference signals or feedback transmitted by the base station 310 may be used by the TX processor 368 to select appropriate decoding and modulation schemes and to facilitate spatial processing. The spatial streams generated by the TX processor 368 may be provided to different antennas 352 via a separate transmitter 354Tx. Each transmitter 354Tx may modulate an RF carrier with a corresponding spatial stream for transmission.

[0071] UL transmissions are processed at the base station 310 in a manner similar to that described in connection with the receiver functionality at the UE 350. Each receiver 318Rx receives signals via its corresponding antenna 320. Each receiver 318Rx recovers the information modulated onto the RF carrier and provides the information to the RX processor 370.

[0072] The controller / processor 375 may be associated with a memory 376 that stores program code and data. The memory 376 may be referred to as a computer-readable medium. In the UL, the controller / processor 375 provides demultiplexing between transport channels and logical channels, packet reassembly, decryption, header decompression, control signal processing to recover IP packets. The controller / processor 375 is also responsible for error detection using the ACK and / or NACK protocols to support HARQ operations.

[0073] At least one of TX processor 368, RX processor 356, and controller / processor 359 may be configured to perform aspects related to Figure 1 point cloud component 198.

[0074] At least one of TX processor 316, RX processor 370, and controller / processor 375 may be configured to perform aspects related to Figure 1 point cloud component 199.

[0075] Figure 4 FIG. 400 is a diagram illustrating an example of UE positioning based on reference signal measurements. UE 404 may transmit UL-SRS 412 at time T SRS_TX and receive a downlink positioning reference signal (PRS) (DL-PRS) 410 at time T PRS_RX . TRP 406 may receive UL-SRS 412 at time T SRS_RX and transmit DL-PRS 410 at time T PRS_TX . UE 404 may receive DL-PRS 410 before transmitting UL-SRS 412, or may transmit UL-SRS 412 before receiving DL-PRS 410. In both cases, a positioning server (e.g., location server 168) or UE 404 may determine RTT 414 based on ||T SRS_RX - T PRS_TX |-|T SRS_TX - T PRS_RX ||. Thus, multi-RTT positioning may utilize UE Rx-Tx time difference measurements of downlink signals received from multiple TRPs 402, 406 and measured by UE 404 (i.e., |T SRS_TX - T PRS_RX |) and DL-PRS reference signal received power (RSRP) (DL-PRS-RSRP), as well as measured TRP Rx-Tx time difference measurements of uplink signals transmitted from UE 404 at multiple TRPs 402, 406 (i.e., |T SRS_RX - T PRS_TX |) and UL-SRS-RSRP. UE 404 uses the assistance data received from the positioning server to measure UE Rx-Tx time difference measurements (and DL-PRS-RSRP of the received signal), and TRPs 402, 406 use the assistance data received from the positioning server to measure gNB Rx-Tx time difference measurements (and UL-SRS-RSRP of the received signal). These measurements may be used at the positioning server or UE 404 to determine the RTT, which is used to estimate the location of UE 404. Other methods for determining the RTT are possible, such as for example using DL-TDOA and / or UL-TDOA measurements.

[0076] DL-AoD positioning can utilize the measured DL-PRS-RSRP of the downlink signals received at the UE 404 from multiple TRPs 402, 406. The UE 404 uses the assistance data received from the positioning server to measure the DL-PRS-RSRP of the received signals, and the resulting measurements, together with the azimuth of departure (A-AoD), zenith angle of departure (Z-AoD), and other configuration information, are used to position the UE 404 relative to the neighboring TRPs 402, 406.

[0077] DL-TDOA positioning can utilize the DL reference signal time difference (RSTD) (and DL-PRS-RSRP) of the downlink signals received at the UE 404 from multiple TRPs 402, 406. The UE 404 uses the assistance data received from the positioning server to measure the DL RSTD (and DL-PRS-RSRP) of the received signals, and the resulting measurements, together with other configuration information, are used to position the UE 404 relative to the neighboring TRPs 402, 406.

[0078] UL-TDOA positioning can utilize the UL relative time of arrival (RTOA) (and UL-SRS-RSRP) of the uplink signals transmitted from the UE 404 at multiple TRPs 402, 406. The TRPs 402, 406 use the assistance data received from the positioning server to measure the UL-RTOA (and UL-SRS-RSRP) of the received signals, and the resulting measurements, together with other configuration information, are used to estimate the location of the UE 404.

[0079] UL-AoA positioning can utilize the measured azimuth of arrival (A-AoA) and zenith angle of arrival (Z-AoA) of the uplink signals transmitted from the UE 404 at multiple TRPs 402, 406. The TRPs 402, 406 use the assistance data received from the positioning server to measure the A-AoA and Z-AoA of the received signals, and the resulting measurements, together with other configuration information, are used to estimate the location of the UE 404.

[0080] Additional positioning methods can be used to estimate the location of the UE 404, such as, for example, UE-side UL-AoD and / or DL-AoA. It should be noted that data / measurements from various techniques can be combined in various ways to increase accuracy, determine and / or enhance certainty, supplement / complete measurements, and / or replace / provide missing information.

[0081] Cellular RF sensing may become a major use case in future cellular networks. Dedicated frequency-domain and time-domain resources may be made available for sensing operations. Additionally, core network entities may be dedicated to sensing operations. Use cases for RF sensing may include, for example, joint communication and sensing, environmental scanning, object detection, or weather monitoring.

[0082] In some configurations, a cellular wireless communication system (e.g., a 5G system) may support cellular-based sensing (e.g., 5G NR-based sensing) and the collection of sensing measurement data. The cellular wireless communication system may support the reporting of cellular-based sensing measurement data for processing. Additionally, the cellular wireless communication system may support the processing of sensing measurement data and the association of sensing measurement data with other auxiliary information (e.g., location information). Further, the cellular wireless communication system may support a mechanism for exposing sensing measurement data or sensing results to authorized third-party applications via the core network.

[0083] In some configurations, an entity that performs sensing (e.g., a UE, a base station, a TRP, etc.) may report a point cloud to a sensing entity (e.g., a core network entity). To facilitate point cloud reporting, information elements (IEs) and associated configurations for the point cloud may be provided or defined. In particular, a point cloud may refer to a collection of n-dimensional points, where the dimensions may each correspond to parameters (attributes) such as range, Doppler, azimuth, or elevation angle.

[0084] In some configurations, the point cloud may be a product of the cellular system. For example, an entity that performs sensing (e.g., a UE, a base station, a TRP, etc.) may transmit sensing RSs and / or receive signals corresponding to the sensing RSs, and may generate a point cloud based on the signals received at a receiving node (the receiving node may or may not be the same node as the transmitting node). To enable cellular RF sensing, the network may allocate resources for the sensing RSs. Hereinafter, a point cloud generated based on cellular RF sensing may be referred to as a cellular point cloud. In the context of radio detection and ranging (radar) technology and more generally in the context of sensing, a point cloud may also be generated based on non-cellular waveforms by such (onboard) sensors as cameras, light detection and ranging (lidar) devices, Wi-Fi signal transceivers, sound navigation and ranging (sonar) devices, or FMCW transceivers, etc.

[0085] A UE (or base station, TRP, etc.) with access to suitable sensors or equipped with suitable sensors may generate a point cloud that can represent the UE's (or base station's, TRP's, etc.) perception of its surrounding environment. The UE (or base station, TRP, etc.) may hereinafter be referred to as the entity performing sensing. For example, a vehicle UE (e.g., a connected car) equipped with an FMCW transceiver may be capable of generating a point cloud representing the vehicle UE's perception of the surrounding environment. Hereinafter, a point cloud generated based on a non-cellular waveform (i.e., a waveform not associated with a cellular wireless communication system) may be referred to as a non-cellular point cloud. Thus, a UE (or base station, TRP, etc.) may generate a cellular point cloud as well as a non-cellular point cloud. The result may be a collection of heterogeneous point clouds generated by the UE (or base station, TRP, etc.).

[0086] Aspects of the present disclosure may relate to configurations associated with heterogeneous point clouds and reporting of heterogeneous point clouds. In particular, the entity performing sensing (e.g., UE, base station, TRP, etc.) may provide an indication of the entity's ability to generate and / or report a non-cellular point cloud. In some configurations, the entity performing sensing may receive a configuration associated with the cellular point cloud and / or the non-cellular point cloud from the network (in a specific example, the sensing entity). In some configurations, the entity performing sensing may perform point cloud generation and / or reporting based on the energy operation at the entity.

[0087] In some configurations, the entity performing sensing (e.g., UE, base station, TRP, etc.) may exchange information about non-cellular point cloud-related capabilities with the network. In one configuration, the entity performing sensing may indicate to the sensing entity the point cloud reporting capability (e.g., whether the entity performing sensing supports reporting the point cloud). For example, the entity performing sensing may provide a capability indication to the sensing entity as part of providing an indication of the sensing-related capabilities. The capability indication may be provided at different granularity levels. In one configuration, the indication of the point cloud reporting capability may include an indication of one or more attributes (e.g., range, speed, azimuth angle, elevation angle, etc.) that can be reported by the entity performing sensing. In one configuration, the indication of the point cloud reporting capability may include an indication of one or more sources of the point cloud that can be reported. For example, the source may include one or more of a lidar device, an FMCW transceiver, a Wi-Fi signal transceiver, etc. In some configurations, the operating parameters (such as operating frequency, bandwidth, etc.) related to the point cloud source may also be included in the indication of the point cloud reporting capability. In one configuration, the indication of the point cloud reporting capability may include an indication of the frequency of point cloud generation.

[0088] Figure 5 FIG. 500 is a diagram illustrating example radar points and lidar points associated with sensing of a vehicle. Figure 5Shows radar cloud points 502 and lidar cloud points 504 relative to a ground truth bounding box 506 corresponding to an example vehicle. The density of the points can be different between the cellular and non-cellular point clouds and can be different between non-cellular point clouds from different sources. For example, as Figure 5 shown, the lidar point cloud can include denser points than the FMCW point cloud (e.g., the radar point cloud).

[0089] In one configuration, the sensing entity can choose to uniquely rely on either the non-cellular or cellular point cloud. For example, the sensing entity can provide an indication to the entity performing the sensing such that only the non-cellular point cloud is reported and the cellular point cloud is not generated and reported. In another example, the sensing entity can provide an indication to the entity performing the sensing such that only the cellular point cloud is reported and the non-cellular point cloud is not generated and reported. On the other hand, fusing the cellular and non-cellular point clouds can bring greater flexibility and higher expected performance gains to the sensing operation.

[0090] In some configurations, the entity performing the sensing can generate and report the non-cellular point cloud from a single source. In some other configurations, the entity performing the sensing can generate and report the non-cellular point cloud from multiple sources.

[0091] In some configurations, the sensing entity can configure the entity performing the sensing such that the entity performing the sensing can report the cellular and non-cellular point clouds separately (independently). In one configuration, based on the configuration provided by the sensing entity, the entity performing the sensing can report both the cellular and non-cellular point clouds in the same reporting instance. The point cloud reporting can accommodate the differences in the frequencies of generating the cellular and non-cellular point clouds. In one configuration, the sensing entity can specify in the configuration provided to the entity performing the sensing the reporting of a subset (or function) of all non-cellular point clouds generated between two reporting instances. For example, based on the configuration provided by the sensing entity, the entity performing the sensing can report only the points that appear in all non-cellular point clouds generated between two reporting instances (and can exclude other points from the report). On the other hand, the entity performing the sensing can report the cellular point cloud as normal (i.e., can report all points in the cellular point cloud).

[0092] In some configurations, the sensing entity can configure the entity performing the sensing such that the entity performing the sensing can report each point cloud separately. Thus, for example, the network can configure a first resource set for the reporting of the cellular point cloud and can configure a second resource set for the reporting of the non-cellular point cloud.

[0093] In some configurations, the entity performing sensing may report both the non-cellular point cloud and the cellular point cloud to the sensing entity, and the sensing entity may perform further processing on both the non-cellular point cloud and the cellular point cloud. In some configurations, to reduce the reporting load, based on the configuration provided by the sensing entity, the entity performing sensing may modify (filter) the first type of point cloud (e.g., non-cellular point cloud or cellular point cloud) based on the second type of point cloud, and may report only the modified first type of point cloud. Additionally, the entity performing sensing may not directly report the second type of point cloud. In other words, the reported points may be a function of both the first type of point cloud and the second type of point cloud.

[0094] In one configuration, the entity performing sensing may modify the cellular point cloud based on the non-cellular point cloud, and may report only the modified cellular point cloud. In one example, to modify the cellular point cloud, the entity performing sensing may retain the points in the cellular point cloud that have corresponding points in the non-cellular point cloud, and may exclude (delete) the points in the cellular point cloud that do not have corresponding points in the non-cellular point cloud. For example, if there are points in the non-cellular point cloud whose values (e.g., range value, velocity value, angle value, etc.) differ from the values of the points in the cellular point cloud by less than a threshold, the points in the cellular point cloud may be considered to have corresponding points in the non-cellular point cloud. After excluding the points in the cellular point cloud that do not have corresponding points in the non-cellular point cloud, the entity performing sensing may report only the modified cellular point cloud.

[0095] For example, the cellular point cloud A may include a first point A1 with a range value of 5m and a second point A2 with a range value of 10m. Additionally, in the same example, the non-cellular point cloud B may include a first point B1 with a range value of 5.2m and a second point B2 with a range value of 6m. If the threshold is 0.5m, when modifying (filtering) the cellular point cloud A, the entity performing sensing may retain point A1 (because as the values of A1 and B1 differ by 0.2m, which is less than the threshold 0.5m, point B1 is the corresponding point in the non-cellular point cloud B) and may exclude (delete) point A2 (because there is no corresponding point for A2 in the non-cellular point cloud B). Thereafter, the entity performing sensing may report only the modified cellular point cloud A' that includes only point A1. The entity performing sensing may not directly report the non-cellular point cloud B.

[0096] In some examples, a time difference threshold may be provided for modifying (filtering) a first point cloud based on a second point cloud. Since each point cloud may be generated independently at different times (e.g., associated with timestamps), two point clouds generated far apart in time may not be meaningfully comparable to each other. Thus, in some configurations, to filter a first point cloud based on a second point cloud, it may be specified that the timestamps associated with the first point cloud and the second point cloud may differ by less than the time difference threshold (e.g., a time window). For example, the time difference threshold may be 0.5 ms (or any other suitable threshold). Thus, in the above example, if the cellular point cloud A and the non-cellular point cloud B are generated within a time window of 0.5 ms, the sensing entity may filter the cellular point cloud A based on the non-cellular point cloud B. If the timestamps of the cellular point cloud A and the non-cellular point cloud B differ by more than 0.5 ms, the sensing entity may not filter the cellular point cloud A based on the non-cellular point cloud B.

[0097] When a first type of point cloud is modified (filtered) based on a second type of point cloud and then reported, the first type of point cloud may be referred to as a reference point cloud. The second type of point cloud used for comparison and filtering but not directly reported may be referred to as a non-reference point cloud. In some configurations, the reference point cloud may be a cellular point cloud and the non-reference point cloud may be a non-cellular point cloud. In some other configurations, the reference point cloud may be a non-cellular point cloud, and the non-reference point cloud may be a cellular point cloud. In some configurations, the sensing entity may select the reference point cloud, and the selected reference point cloud may be indicated in the configuration provided to the sensing entity.

[0098] In some configurations, the entity performing sensing may select the type of point cloud (e.g., cellular point cloud and / or non-cellular point cloud) that can be generated and reported based on the energy-saving mode in which the entity performing sensing is operable. For example, if the entity performing sensing is a UE, the UE may report a single type of point cloud or both types of point clouds based on the energy-saving operations at the UE. In particular, the UE may be configured by the network with resources for reporting both types of point clouds. The UE may then have the flexibility (e.g., based on the configuration from the network / sensing entity) to select the reporting mode to be used (e.g., based on the energy-saving operations / status at the UE). The selected reporting mode may be one of a full reporting mode (e.g., direct reporting of both types of point clouds), a comparative reporting mode (e.g., direct reporting of only a single type of point cloud after modification / filtering, as described above), or a single-type reporting mode (e.g., direct reporting of only a single type of point cloud without modification). For example, if the UE is in a low-energy state, the UE may select to generate and report only the cellular point cloud based on that low-energy state, without generating or reporting other types of point clouds (e.g., non-cellular point clouds). For example, since a lidar device or system may be energy-consuming, when the UE is in a low-energy state, the UE may choose not to activate the lidar. Thus, the UE may not generate or report lidar-based non-cellular point clouds. Therefore, the UE may only generate the cellular point cloud and report it to the sensing entity.

[0099] In some configurations, the sensing entity may indicate the (favorable) type of point cloud selected by the sensing entity in the configuration provided to the entity performing sensing. In one configuration, if the UE selects to avoid generating the cellular point cloud in a subsequent time period, the UE may provide a corresponding indication to the network as part of the point cloud report or in a separate (dedicated) message. The indication that the UE is to avoid generating the cellular point cloud may enable the network to save energy by not sending the sensing RS (in the case where the sensing RS is sent by the network). However, if there are additional entities performing cellular RF sensing based on the sensing RS provided by the network in the vicinity, the network may still send the sensing RS.

[0100] As described above, the entity performing sensing may select the type of point cloud that can be generated and reported based on the energy-saving mode in which the entity performing sensing is operable. In another example, if the entity performing sensing is a TRP, the TRP may select a point cloud reporting mode (e.g., full reporting, comparison reporting, single-type reporting, etc. as described above) based on the network energy-saving mode operating at the TRP. In some configurations, based on network energy operation, the network / TRP may adjust (e.g., dynamically) the antenna configuration at the TRP. For example, the network / TRP may selectively turn on or off antennas or antenna panels at the TRP. In some configurations, the sensing RS processing and the generation of the cellular point cloud may be enabled at the TRP when the TRP is in some network energy-saving modes and may be disabled at the TRP when the TRP is in some other network energy-saving modes. In some configurations, the TRP may provide an indication of the operating mode of the TRP to the sensing entity. Similarly, in some configurations, the generation of the non-cellular point cloud may be enabled at the TRP when the TRP is in some network energy-saving modes and may be disabled at the TRP when the TRP is in some other network energy-saving modes. In some configurations, the TRP may provide an indication (e.g., an error reason message) to the sensing entity of the reason for not reporting a point cloud (e.g., not reporting a certain type of point cloud, or not reporting a point cloud at all). For example, the TRP may indicate to the sensing entity that the point cloud report is lost due to network energy-saving mode restrictions.

[0101] Figure 6 FIG. 600 is a diagram of a communication flow of a wireless communication method. In different configurations, the first network entity 602 may be the entity performing sensing and may implement aspects of the UE 104 / 350, the base station 102 / 310, or the TRP. Additionally, the second network entity 604 may implement aspects of the sensing entity. At 606, the first network entity 602 may send an indication of the point cloud reporting capability of the first network entity 602 to the second network entity 604. The point cloud reporting capability of the first network entity 602 may include capabilities associated with heterogeneous point cloud reporting.

[0102] In one configuration, the point cloud reporting capability of the first network entity 602 may correspond to one or more of at least one reportable attribute, a point cloud source, or a frequency of point cloud generation.

[0103] In one configuration, the point cloud source may correspond to at least one of a cellular transceiver, a radar (e.g., FMCW radar), a Wi-Fi transceiver, or a lidar device.

[0104] In some configurations, at 608, the second network entity 604 may send a configuration of multiple point cloud reporting opportunities to the first network entity 602.

[0105] At 610, the first network entity 602 may identify a first point cloud based on non-cellular sensing. Herein, non-cellular sensing may refer to the acquisition of information about the characteristics of the environment or objects within the environment (e.g., shape, size, speed, location, distance between objects, or relative motion between objects, etc.) without using RF signals associated with a cellular network. For example, non-cellular sensing may be based on an independent radar using FMCW signals (e.g., one or more radars deployed in a vehicle).

[0106] At 612, the first network entity 602 may send a first indication of the first point cloud to the second network entity 604 based on the point cloud reporting capability of the first network entity 602.

[0107] In some configurations, the first indication of the first point cloud may be sent by the first network entity 602 at 612 to the second network entity 604 in a first point cloud reporting opportunity among multiple point cloud reporting opportunities. At 614, the first network entity 602 may send a second indication of a second point cloud to the second network entity 604 in the first point cloud reporting opportunity. The second point cloud may be based on cellular sensing. In other words, the first point cloud reporting opportunity may be associated with the reporting of both cellular point clouds and non-cellular point clouds. Herein, cellular sensing (or cellular RF sensing) may refer to the acquisition of information about the characteristics of the environment or objects within the environment (e.g., shape, size, speed, location, distance between objects, or relative motion between objects, etc.) using cellular RF signals.

[0108] In some configurations, the first indication of the first point cloud may be sent by the first network entity 602 at 612 to the second network entity 604 in a first point cloud reporting opportunity among multiple point cloud reporting opportunities. The first point cloud reporting opportunity may be associated with the reporting of at least one non-cellular point cloud. At 616, the first network entity 602 may send a second indication of a second point cloud to the second network entity 604 in a second point cloud reporting opportunity among multiple point cloud reporting opportunities. The second point cloud may be based on cellular sensing. The second point cloud reporting opportunity may be associated with the reporting of at least one cellular point cloud. In other words, cellular point clouds and non-cellular point clouds may be reported separately (e.g., at different point cloud reporting opportunities).

[0109] In some configurations, at 618, the first network entity 602 may identify a second point cloud and a third point cloud. The second point cloud and the third point cloud may include a reference point cloud and a non-reference point cloud.

[0110] In some configurations, the second point cloud and the third point cloud may include a cellular point cloud and a non-cellular point cloud. At 620, the first network entity 602 may receive an indication of the reference point cloud from among the second point cloud and the third point cloud (e.g., an indication of a cellular point cloud or a non-cellular point cloud) from the second network entity 604.

[0111] At 622, the first network entity 602 may modify or exclude at least one cloud point in the reference point cloud based on correlating the reference point cloud with the non-reference point cloud.

[0112] In one configuration, to exclude the at least one cloud point, the first network entity 602 may exclude the at least one cloud point based on a deviation of the at least one cloud point from a corresponding cloud point in the non-reference point cloud being greater than a threshold.

[0113] At 624, the first network entity 602 may send a second indication to the second network entity 604 of the reference point cloud with the modified at least one cloud point or without the excluded at least one cloud point.

[0114] In some configurations, the first network entity 602 may be a UE or a TRP. At 626, the first network entity 602 may select a point cloud reporting mode for the first network entity 602 based on a power saving operation at the first network entity 602. The point cloud reporting mode may correspond to one of a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disabled mode.

[0115] In one configuration, the first network entity 602 may be a TRP. The power saving operation at the first network entity 602 may correspond to a network energy state.

[0116] At 628, the first network entity 602 may send an indication of the selected point cloud reporting mode to the second network entity 604.

[0117] Block 630 may include 630a or 630b. At 630a, the first network entity 602 may avoid generating or reporting one or more point clouds based on cellular sensing or non-cellular sensing when the selected point cloud reporting mode corresponds to the single type point cloud reporting mode. In some other configurations, at 630b, the first network entity 602 may avoid generating or reporting any point clouds when the selected point cloud reporting mode corresponds to the point cloud reporting disabled mode.

[0118] In some configurations, the first network entity 602 may be a TRP. At 632, the first network entity 602 (e.g., the TRP) may adjust an antenna configuration at the first network entity 602 based on a power saving operation at the first network entity 602. The antenna configuration may correspond to enabling or disabling one or more antennas or antenna panels.

[0119] Figure 7It is a flowchart 700 of a wireless communication method. This method can be executed by a first network entity (e.g., the first network entity 602; UE 104 / 350; device 1104; base station 102 / 310; network entity 1102). At 702, the first network entity can send an indication of the point cloud reporting capability of the first network entity to a second network entity. The point cloud reporting capability of the first network entity can include capabilities associated with heterogeneous point cloud reporting. For example, 702 can be executed by the component 198 in Figure 11 or the component 199 in Figure 12 . Referring to Figure 6 , at 606, the first network entity 602 can send an indication of the point cloud reporting capability of the first network entity 602 to the second network entity 604.

[0120] At 704, the first network entity can identify a first point cloud based on non-cellular sensing. For example, 704 can be executed by the component 198 in Figure 11 or the component 199 in Figure 12 . Referring to Figure 6 , at 610, the first network entity 602 can identify a first point cloud based on non-cellular sensing.

[0121] At 706, the first network entity can send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity. For example, 706 can be executed by the component 198 in Figure 11 or the component 199 in Figure 12 . Referring to Figure 6 , at 612, the first network entity 602 can send a first indication of the first point cloud to the second network entity 604 based on the point cloud reporting capability of the first network entity 602.

[0122] Figure 8 It is a flowchart 800 of a wireless communication method. This method can be executed by a first network entity (e.g., the first network entity 602; UE 104 / 350; device 1104; base station 102 / 310; network entity 1102). At 802, the first network entity can send an indication of the point cloud reporting capability of the first network entity to a second network entity. The point cloud reporting capability of the first network entity can include capabilities associated with heterogeneous point cloud reporting. For example, 802 can be executed by the component 198 in Figure 11 or the component 199 in Figure 12 . Referring to Figure 6 , at 606, the first network entity 602 can send an indication of the point cloud reporting capability of the first network entity 602 to the second network entity 604.

[0123] At 806, the first network entity can identify a first point cloud based on non-cellular sensing. For example, 806 can be executed byFigure 11 Component 198 in or Figure 12 Component 199 in performs. Refer to Figure 6 , at 610, the first network entity 602 may identify a first point cloud based on non-cellular sensing.

[0124] At 808, the first network entity may send a first indication of the first point cloud to a second network entity based on the point cloud reporting capability of the first network entity. For example, 808 may be performed by Figure 11 Component 198 in or Figure 12 Component 199 in performs. Refer to Figure 6 , at 612, the first network entity 602 may send a first indication of the first point cloud to the second network entity 604 based on the point cloud reporting capability of the first network entity 602.

[0125] In one configuration, refer to Figure 6 , the point cloud reporting capability of the first network entity 602 may correspond to one or more of at least one reportable attribute, point cloud source, or frequency of point cloud generation.

[0126] In one configuration, the point cloud source may correspond to at least one of a cellular transceiver, an FMCW radar, a Wi-Fi transceiver, or a lidar device.

[0127] In one configuration, at 804, the first network entity may receive a configuration of multiple point cloud reporting opportunities from the second network entity. For example, 804 may be performed by Figure 11 Component 198 in or Figure 12 Component 199 in performs. Refer to Figure 6 , at 608, the first network entity 602 may receive a configuration of multiple point cloud reporting opportunities from the second network entity 604.

[0128] In one configuration, refer to Figure 6 , the first indication of the first point cloud may be sent by the first network entity 602 at 612 to the second network entity 604 in a first point cloud reporting opportunity among multiple point cloud reporting opportunities. At 810, the first network entity sends a second indication of a second point cloud to the second network entity in the first point cloud reporting opportunity. The second point cloud may be based on cellular sensing. For example, 810 may be performed by Figure 11 Component 198 in or Figure 12 Component 199 in performs. Refer to Figure 6 , at 614, the first network entity 602 may send a second indication of the second point cloud to the second network entity 604 in the first point cloud reporting opportunity.

[0129] In one configuration, refer to Figure 6, the first indication of the first point cloud can be sent by the first network entity 602 at 612 for the second network entity 604 in the first point cloud reporting opportunity among multiple point cloud reporting opportunities. The first point cloud reporting opportunity can be associated with the reporting of at least one non-cellular point cloud. At 812, the first network entity can send a second indication of the second point cloud for the second network entity in the second point cloud reporting opportunity among multiple point cloud reporting opportunities. The second point cloud can be based on cellular sensing. The second point cloud reporting opportunity can be associated with the reporting of at least one cellular point cloud. For example, 812 can be performed by Figure 11 component 198 in Figure 12 or Figure 6 component 199 in. Refer to

[0130] In one configuration, at 814, the first network entity can identify a second point cloud and a third point cloud. The second point cloud and the third point cloud can include a reference point cloud and a non-reference point cloud. For example, 814 can be performed by Figure 11 component 198 in Figure 12 or Figure 6 component 199 in. Refer to

[0131] At 818, the first network entity can modify or exclude at least one cloud point in the reference point cloud based on correlating the reference point cloud with the non-reference point cloud. For example, 818 can be performed by Figure 11 component 198 in Figure 12 or Figure 6 component 199 in. Refer to

[0132] At 820, the first network entity can send a second indication of the reference point cloud with the modified at least one cloud point or without the excluded at least one cloud point for the second network entity. For example, 820 can be performed by Figure 11 component 198 in Figure 12 or Figure 6 component 199 in. Refer to

[0133] In one configuration, the second point cloud and the third point cloud may include a cellular point cloud and a non-cellular point cloud. At 816, a first network entity may receive an indication of a reference point cloud from a second network entity between the second point cloud and the third point cloud. For example, 816 may be performed by component 198 in Figure 11 or component 199 in Figure 12 . Referring to Figure 6 , at 620, a first network entity 602 may receive an indication of a reference point cloud from a second network entity 604 between the second point cloud and the third point cloud.

[0134] In one configuration, referring to Figure 6 , to exclude the at least one cloud point at 622, a first network entity 602 may exclude the at least one cloud point in response to a deviation of the at least one cloud point from a corresponding cloud point in the non-reference point cloud being greater than a threshold.

[0135] In one configuration, referring to Figure 6 , a first network entity 602 may be a UE or a TRP. At 822, the first network entity may select a point cloud reporting mode for the first network entity based on power saving operations at the first network entity. The point cloud reporting mode may correspond to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disable mode. For example, 822 may be performed by component 198 in Figure 11 or component 199 in Figure 12 . Referring to Figure 6 , at 626, a first network entity 602 may select a point cloud reporting mode for the first network entity 602 based on power saving operations at the first network entity 602.

[0136] At 824, the first network entity may send an indication of the selected point cloud reporting mode to the second network entity. For example, 824 may be performed by component 198 in Figure 11 or component 199 in Figure 12 . Referring to Figure 6 , at 628, a first network entity 602 may send an indication of the selected point cloud reporting mode to a second network entity 604.

[0137] At 826, the first network entity may avoid generating or reporting one or more point clouds based on cellular sensing or non-cellular sensing when the selected point cloud reporting mode corresponds to the single type point cloud reporting mode, or may avoid generating or reporting any point clouds when the selected point cloud reporting mode corresponds to the point cloud reporting disable mode. For example, 826 may be performed by component 198 in Figure 11 or component 199 in Figure 12 . Referring to Figure 6, at 630, the first network entity 602 may avoid generating or reporting one or more point clouds based on cellular sensing or non-cellular sensing when the selected point cloud reporting mode corresponds to the single type point cloud reporting mode, or may avoid generating or reporting any point clouds when the selected point cloud reporting mode corresponds to the point cloud reporting disable mode at 630b.

[0138] In one configuration, referring to Figure 6 , the first network entity 602 may be a TRP. The power saving operation at the first network entity 602 may correspond to the network energy state.

[0139] In one configuration, referring to Figure 6 , the first network entity 602 may be a TRP. At 828, the first network entity may adjust the antenna configuration at the first network entity based on the power saving operation at the first network entity. The antenna configuration may correspond to the enabling or disabling of one or more antennas or antenna panels. For example, 828 may be performed by component 198 in Figure 11 or component 199 in Figure 12 . Referring to Figure 6 , at 632, the first network entity 602 may adjust the antenna configuration at the first network entity 602 based on the power saving operation at the first network entity 602.

[0140] In one configuration, referring to Figure 6 , the first network entity 602 may include at least one of a UE, a TRP, or a base station. The second network entity 604 may include a sensing entity.

[0141] Figure 9 is a flowchart 900 of a wireless communication method. The method may be performed by a second network entity (e.g., the second network entity 604; the network entity 1360). At 902, the second network entity may receive an indication of the point cloud reporting capability of the first network entity from the first network entity. The point cloud reporting capability of the first network entity may include the capability associated with heterogeneous point cloud reporting. For example, 902 may be performed by component 1399 in Figure 13 . Referring to Figure 6 , at 606, the second network entity 604 may receive an indication of the point cloud reporting capability of the first network entity 602 from the first network entity 602.

[0142] At 904, the second network entity may receive a first indication of a first point cloud from the first network entity based on the point cloud reporting capability of the first network entity. The first point cloud may be based on non-cellular sensing. For example, 904 may be performed by component 1399 in Figure 13 . Referring to Figure 6, at 612, the second network entity 604 may receive a first indication of a first point cloud from the first network entity 602 based on the point cloud reporting capability of the first network entity 602.

[0143] Figure 10 is a flowchart 1000 of a wireless communication method. The method may be performed by a second network entity (e.g., the second network entity 604; the network entity 1360). At 1002, the second network entity may receive an indication of the point cloud reporting capability of the first network entity from the first network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. For example, 1002 may be performed by Figure 13 component 1399 in. Refer to Figure 6 , at 606, the second network entity 604 may receive an indication of the point cloud reporting capability of the first network entity 602 from the first network entity 602.

[0144] At 1006, the second network entity may receive a first indication of a first point cloud from the first network entity based on the point cloud reporting capability of the first network entity. The first point cloud may be based on non-cellular sensing. For example, 1006 may be performed by Figure 13 component 1399 in. Refer to Figure 6 , at 612, the second network entity 604 may receive a first indication of a first point cloud from the first network entity 602 based on the point cloud reporting capability of the first network entity 602.

[0145] In one configuration, refer to Figure 6 , the point cloud reporting capability of the first network entity 602 may correspond to one or more of at least one reportable attribute, point cloud source, or frequency of point cloud generation.

[0146] In one configuration, the point cloud source may correspond to at least one of a cellular transceiver, FMCW radar, Wi-Fi transceiver, or lidar device.

[0147] In one configuration, at 1004, the second network entity may send a configuration of multiple point cloud reporting opportunities for the first network entity. For example, 1004 may be performed by Figure 13 component 1399 in. Refer to Figure 6 , at 608, the second network entity 604 may send a configuration of multiple point cloud reporting opportunities for the first network entity 602.

[0148] In one configuration, refer to Figure 6, at 612, the second network entity 604 may receive a first indication of a first point cloud from the first network entity 602 at a first point cloud reporting opportunity among multiple point cloud reporting opportunities. At 1008, the second network entity may receive a second indication of a second point cloud from the first network entity at the first point cloud reporting opportunity. The second point cloud may be based on cellular sensing. For example, 1008 may be performed by Figure 13 component 1399 in. Refer to Figure 6 , at 614, the second network entity 604 may receive a second indication of a second point cloud from the first network entity 602 at the first point cloud reporting opportunity.

[0149] In one configuration, refer to Figure 6 , at 612, the second network entity 604 may receive a first indication of a first point cloud from the first network entity 602 at a first point cloud reporting opportunity among multiple point cloud reporting opportunities. The first point cloud reporting opportunity may be associated with the reporting of at least one non-cellular point cloud. At 1010, the second network entity may receive a second indication of a second point cloud from the first network entity at a second point cloud reporting opportunity among multiple point cloud reporting opportunities. The second point cloud may be based on cellular sensing. The second point cloud reporting opportunity may be associated with the reporting of at least one cellular point cloud. For example, 1010 may be performed by Figure 13 component 1399 in. Refer to Figure 6 , at 616, the second network entity 604 may receive a second indication of a second point cloud from the first network entity 602 at a second point cloud reporting opportunity among multiple point cloud reporting opportunities.

[0150] In one configuration, refer to Figure 6 , the first network entity 602 may be a UE or a TRP. At 1012, the second network entity may receive an indication of a selected point cloud reporting mode from the first network entity. The selected point cloud reporting mode may be based on power saving operations at the first network entity. The selected point cloud reporting mode may correspond to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disable mode. For example, 1012 may be performed by Figure 13 component 1399 in. Refer to Figure 6 , at 628, the second network entity 604 may receive an indication of a selected point cloud reporting mode from the first network entity 602.

[0151] In one configuration, refer to Figure 6 , the first network entity 602 may be a TRP. The power saving operations at the first network entity 602 may correspond to the network energy state.

[0152] In one configuration, refer to Figure 6 , the first network entity 602 may include at least one of a UE, a TRP, or a base station. The second network entity may include a sensing entity.

[0153] Figure 11FIG. 1100 is a diagram illustrating an example of a hardware implementation for apparatus 1104. Apparatus 1104 may be a UE, a component of a UE, or may implement UE functionality. In some aspects, apparatus 1104 may include a cellular baseband processor 1124 (also referred to as a modem) coupled to one or more transceivers 1122 (e.g., cellular RF transceivers). The cellular baseband processor 1124 may include on-chip memory 1124'. In some aspects, apparatus 1104 may also include one or more subscriber identity module (SIM) cards 1120 and an application processor 1106 coupled to a secure digital (SD) card 1108 and a screen 1110. The application processor 1106 may include on-chip memory 1106'. In some aspects, apparatus 1104 may also include a Bluetooth module 1112, a WLAN module 1114, an SPS module 1116 (e.g., GNSS module), one or more sensor modules 1118 (e.g., barometric pressure sensor / altimeter; motion sensors such as an inertial measurement unit (IMU), gyroscope, and / or accelerometer; light detection and ranging (lidar), radio assisted detection and ranging (RADAR), sound navigation and ranging (SONAR), magnetometer, audio, and / or other technologies for positioning), additional memory modules 1126, a power source 1130, and / or a camera 1132. The Bluetooth module 1112, the WLAN module 1114, and the SPS module 1116 may include on-chip transceivers (TRX) (or in some cases, only receivers (RX)). The Bluetooth module 1112, the WLAN module 1114, and the SPS module 1116 may include their own dedicated antennas and / or communicate using antenna 1180. The cellular baseband processor 1124 communicates with UE 104 and / or with an RU associated with network entity 1102 via transceiver 1122 through one or more antennas 1180. The cellular baseband processor 1124 and the application processor 1106 may each separately include computer-readable media / memory 1124', 1106'. The additional memory module 1126 may also be considered computer-readable media / memory. Each computer-readable media / memory 1124', 1106', 1126 may be non-transitory. The cellular baseband processor 1124 and the application processor 1106 are each responsible for general processing, including executing software stored on the computer-readable media / memory. The software, when executed by the cellular baseband processor 1124 / application processor 1106, causes the cellular baseband processor 1124 / application processor 1106 to perform the various functions described above. The computer-readable media / memory may also be used to store data manipulated by the cellular baseband processor 1124 / application processor 1106 when executing the software.The cellular baseband processor 1124 / application processor 1106 may be a component of the UE 350 and may include the memory 360 and / or at least one of the TX processor 368, the RX processor 356, and the controller / processor 359. In one configuration, the device 1104 may be a processor chip (modem and / or application) and include only the cellular baseband processor 1124 and / or the application processor 1106, and in another configuration, the device 1104 may be the entire UE (e.g., see. Figure 3 of 350) and include additional modules of the device 1104.

[0154] As discussed above, the component 198 is configured to send an indication of the point cloud reporting capability of the first network entity to the second network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The component 198 is configured to identify the first point cloud based on non-cellular sensing. The component 198 is configured to send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity. The component 198 may be within the cellular baseband processor 1124, the application processor 1106, or both the cellular baseband processor 1124 and the application processor 1106. The component 198 may be one or more hardware components specifically configured to perform the stated processes / algorithms, implemented by one or more processors configured to perform the stated processes / algorithms, stored in a computer-readable medium for implementation by one or more processors, or some combination of the above. As shown, the device 1104 may include various components configured for various functions. In one configuration, the device 1104 (and specifically, the cellular baseband processor 1124 and / or the application processor 1106) includes means for sending an indication of the point cloud reporting capability of the first network entity to the second network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The device 1104 (and specifically the cellular baseband processor 1124 and / or the application processor 1106) includes means for identifying the first point cloud based on non-cellular sensing. The device 1104 (and specifically the cellular baseband processor 1124 and / or the application processor 1106) includes means for sending a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity.

[0155] In one configuration, the point cloud reporting capability of the first network entity may correspond to one or more of at least one reportable attribute, a point cloud source, or the frequency of point cloud generation. In one configuration, the point cloud source may correspond to at least one of a cellular transceiver, an FMCW radar, a Wi-Fi transceiver, or a lidar device. In one configuration, apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components configured to receive a plurality of point cloud reporting opportunities from a second network entity. In one configuration, the component for sending a first indication of a first point cloud may be further configured to: send a first indication of the first point cloud to the second network entity at a first point cloud reporting opportunity among the plurality of point cloud reporting opportunities. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for sending a second indication of a second point cloud to the second network entity at the first point cloud reporting opportunity. The second point cloud may be based on cellular sensing. In one configuration, the component for sending a first indication of a first point cloud may be further configured to: send a first indication of the first point cloud to the second network entity at a first point cloud reporting opportunity among the plurality of point cloud reporting opportunities. The first point cloud reporting opportunity may be associated with the reporting of at least one non-cellular point cloud. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for sending a second indication of a second point cloud to the second network entity at a second point cloud reporting opportunity among the plurality of point cloud reporting opportunities. The second point cloud may be based on cellular sensing. The second point cloud reporting opportunity may be associated with the reporting of at least one cellular point cloud. In one configuration, apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for identifying a second point cloud and a third point cloud. The second point cloud and the third point cloud may include a reference point cloud and a non-reference point cloud. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for modifying or excluding at least one cloud point in the reference point cloud based on correlating the reference point cloud with the non-reference point cloud. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for sending a second indication of the reference point cloud with the modified at least one cloud point or without the excluded at least one cloud point to the second network entity. In one configuration, the second point cloud and the third point cloud may include a cellular point cloud and a non-cellular point cloud. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for receiving an indication of a reference point cloud from between the second point cloud and the third point cloud from the second network entity. In one configuration, the component for excluding at least one cloud point may be further configured to exclude the at least one cloud point in response to a deviation of the at least one cloud point from a corresponding cloud point in the non-reference point cloud being greater than a threshold.In one configuration, the first network entity can be a UE or a TRP. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for selecting a point cloud reporting mode for the first network entity based on power saving operations at the first network entity. The point cloud reporting mode can correspond to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disabled mode. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for sending an indication of the selected point cloud reporting mode to a second network entity. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for avoiding generating or reporting one or more point clouds based on cellular sensing or non-cellular sensing when the selected point cloud reporting mode corresponds to the single type point cloud reporting mode, or for avoiding generating or reporting any point clouds when the selected point cloud reporting mode corresponds to the point cloud reporting disabled mode. In one configuration, the first network entity can be a TRP. The power saving operations at the first network entity can correspond to the network energy state. In one configuration, the first network entity can be a TRP. Apparatus 1104 (and specifically, cellular baseband processor 1124 and / or application processor 1106) includes components for adjusting the antenna configuration at the first network entity based on power saving operations at the first network entity. The antenna configuration can correspond to the enabling or disabling of one or more antennas or antenna panels. In one configuration, the network entity can include at least one of a UE, a TRP, or a base station. The second network entity can include a sensing entity.

[0156] The component can be component 198 of apparatus 1104 configured to perform the functions recited by the component. As described above, apparatus 1104 can include TX processor 368, RX processor 356, and controller / processor 359. Thus, in one configuration, the component can be TX processor 368, RX processor 356, and / or controller / processor 359 configured to perform the functions recited by the component.

[0157] Figure 12FIG. 1200 is an illustration of an example of a hardware implementation for network entity 1202. Network entity 1202 may be a BS, a component of a BS, or may implement BS functionality. Network entity 1202 may include at least one of CU 1210, DU 1230, or RU 1240. For example, depending on the layer functions handled by component 199, network entity 1202 may include CU 1210; both CU 1210 and DU 1230; each of CU 1210, DU 1230, and RU 1240; DU 1230; both DU 1230 and RU 1240; or RU 1240. CU 1210 may include CU processor 1212. CU processor 1212 may include on-chip memory 1212'. In some aspects, CU 1210 may also include additional memory modules 1214 and communication interface 1218. CU 1210 communicates with DU 1230 via a midhaul link, such as the F1 interface. DU 1230 may include DU processor 1232. DU processor 1232 may include on-chip memory 1232'. In some aspects, DU 1230 may also include additional memory modules 1234 and communication interface 1238. DU 1230 communicates with RU 1240 via a fronthaul link. RU 1240 may include RU processor 1242. RU processor 1242 may include on-chip memory 1242'. In some aspects, RU 1240 may also include additional memory modules 1244, one or more transceivers 1246, antenna 1280, and communication interface 1248. RU 1240 communicates with UE 104. On-chip memories 1212', 1232', 1242' and additional memory modules 1214, 1234, 1244 may each be considered computer-readable media / memory. Each computer-readable media / memory may be non-transitory. Each of processors 1212, 1232, 1242 is responsible for general processing, including executing software stored on the computer-readable media / memory. The software, when executed by the corresponding processor, causes the processor to perform the various functions described above. The computer-readable media / memory may also be used to store data manipulated by the processor when executing the software.

[0158] As discussed above, component 199 is configured to send an indication of the point cloud reporting capabilities of a first network entity to a second network entity. The point cloud reporting capabilities of the first network entity may include capabilities associated with heterogeneous point cloud reporting. Component 199 is configured to identify a first point cloud based on non-cellular sensing. Component 199 is configured to send a first indication of the first point cloud to the second network entity based on the point cloud reporting capabilities of the first network entity. Component 199 may be within one or more processors of one or more of CU 1210, DU 1230, and RU 1240. Component 199 may be one or more hardware components specifically configured to perform the stated processes / algorithms, implemented by one or more processors configured to perform the stated processes / algorithms, stored in a computer-readable medium for implementation by one or more processors, or some combination of the above. Network entity 1202 may include a variety of components configured for various functions. In one configuration, network entity 1202 includes means for sending an indication of the point cloud reporting capabilities of a first network entity to a second network entity. The point cloud reporting capabilities of the first network entity may include capabilities associated with heterogeneous point cloud reporting. Network entity 1202 includes means for identifying a first point cloud based on non-cellular sensing. Network entity 1202 includes means for sending a first indication of the first point cloud to the second network entity based on the point cloud reporting capabilities of the first network entity.

[0159] In one configuration, the point cloud reporting capability of the first network entity may correspond to one or more of at least one reportable attribute, point cloud source, or frequency of point cloud generation. In one configuration, the point cloud source may correspond to at least one of a cellular transceiver, FMCW radar, Wi-Fi transceiver, or lidar device. In one configuration, network entity 1202 includes components configured to receive, from a second network entity, multiple point cloud reporting opportunities. In one configuration, the component for sending a first indication of a first point cloud may be further configured to send, for the second network entity, a first indication of the first point cloud in a first point cloud reporting opportunity among the multiple point cloud reporting opportunities. Network entity 1202 includes a component for sending, for the second network entity, a second indication of a second point cloud in the first point cloud reporting opportunity. The second point cloud may be based on cellular sensing. In one configuration, the component for sending a first indication of a first point cloud may be further configured to send, for the second network entity, a first indication of the first point cloud in a first point cloud reporting opportunity among the multiple point cloud reporting opportunities. The first point cloud reporting opportunity may be associated with the reporting of at least one non-cellular point cloud. Network entity 1202 includes a component for sending, for the second network entity, a second indication of a second point cloud in a second point cloud reporting opportunity among the multiple point cloud reporting opportunities. The second point cloud may be based on cellular sensing. The second point cloud reporting opportunity may be associated with the reporting of at least one cellular point cloud. In one configuration, network entity 1202 includes components for identifying a second point cloud and a third point cloud. The second point cloud and the third point cloud may include a reference point cloud and a non-reference point cloud. Network entity 1202 includes components for modifying or excluding at least one cloud point in the reference point cloud based on correlating the reference point cloud with the non-reference point cloud. Network entity 1202 includes a component for sending, for the second network entity, a second indication of the reference point cloud having the modified at least one cloud point or not having the excluded at least one cloud point. In one configuration, the second point cloud and the third point cloud may include a cellular point cloud and a non-cellular point cloud. Network entity 1202 includes a component for receiving, from the second network entity, an indication of the reference point cloud between the second point cloud and the third point cloud. In one configuration, the component for excluding at least one cloud point may be further configured to exclude the at least one cloud point in response to a deviation of the at least one cloud point from a corresponding cloud point in the non-reference point cloud being greater than a threshold. In one configuration, the first network entity may be a UE or a TRP. Network entity 1202 includes components for selecting, for the first network entity, a point cloud reporting mode based on power saving operations at the first network entity. The point cloud reporting mode may correspond to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disabled mode. Network entity 1202 includes a component for sending, for the second network entity, an indication of the selected point cloud reporting mode.The network entity 1202 includes components for avoiding generating or reporting one or more point clouds based on cellular sensing or non-cellular sensing when the selected point cloud reporting mode corresponds to the single type point cloud reporting mode, or components for avoiding generating or reporting any point clouds when the selected point cloud reporting mode corresponds to the point cloud reporting disable mode. In one configuration, the first network entity may be a TRP. The power saving operation at the first network entity may correspond to the network energy state. In one configuration, the first network entity may be a TRP. The network entity 1202 includes components for adjusting the antenna configuration at the first network entity based on the power saving operation at the first network entity. The antenna configuration may correspond to enabling or disabling one or more antennas or antenna panels. In one configuration, the network entity may include at least one of a UE, a TRP, or a base station. The second network entity may include a sensing entity.

[0160] The component may be component 199 of the network entity 1202 configured to perform the functions recited by the component. As described above, the network entity 1202 may include a TX processor 316, an RX processor 370, and a controller / processor 375. Thus, in one configuration, the component may be the TX processor 316, the RX processor 370, and / or the controller / processor 375 configured to perform the functions recited by the component.

[0161] Figure 13 FIG. 1300 is a diagram illustrating an example of a hardware implementation for a network entity 1360 (e.g., a sensing entity). In one example, the network entity 1360 may be within the core network 120. The network entity 1360 may include a network processor 1312. The network processor 1312 may include on-chip memory 1312'. In some aspects, the network entity 1360 may also include additional memory modules 1314. The network entity 1360 communicates with the CU 1302 directly (e.g., a fronthaul link) or indirectly (e.g., through the RIC) via a network interface 1380. The on-chip memory 1312' and the additional memory modules 1314 may each be considered a computer-readable medium / memory. Each computer-readable medium / memory may be non-transitory. The processor 1312 is responsible for general processing, including executing software stored on the computer-readable medium / memory. The software, when executed by the corresponding processor, causes the processor to perform the various functions described above. The computer-readable medium / memory may also be used to store data manipulated by the processor when executing the software.

[0162] As discussed above, component 1399 is configured to receive an indication of the point cloud reporting capability of a first network entity from the first network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. Component 1399 is configured to receive a first indication of a first point cloud from the first network entity based on the point cloud reporting capability of the first network entity. The first point cloud may be based on non-cellular sensing. Component 1399 may be within processor 1312. Component 1399 may be one or more hardware components specifically configured to perform the stated processes / algorithms, implemented by one or more processors configured to perform the stated processes / algorithms, stored in a computer-readable medium for implementation by one or more processors, or some combination of the above. Network entity 1360 may include various components configured for various functions. In one configuration, network entity 1360 includes means for receiving an indication of the point cloud reporting capability of a first network entity from the first network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. Network entity 1360 includes means for receiving a first indication of a first point cloud from the first network entity based on the point cloud reporting capability of the first network entity. The first point cloud may be based on non-cellular sensing.

[0163] In one configuration, the point cloud reporting capability of a first network entity may correspond to one or more of at least one reportable attribute, a point cloud source, or a frequency of point cloud generation. In one configuration, the point cloud source may correspond to at least one of a cellular transceiver, an FMCW radar, a Wi-Fi transceiver, or a lidar device. In one configuration, network entity 1360 includes components configured for sending multiple point cloud reporting opportunities for the first network entity. In one configuration, the component for receiving a first indication of a first point cloud may be further configured to receive, from the first network entity, the first indication of the first point cloud during a first point cloud reporting opportunity among the multiple point cloud reporting opportunities. Network entity 1360 includes components for receiving, during the first point cloud reporting opportunity, a second indication of a second point cloud from the first network entity. The second point cloud may be based on cellular sensing. In one configuration, the component for receiving a first indication of a first point cloud may be further configured to receive, from the first network entity, the first indication of the first point cloud during a first point cloud reporting opportunity among the multiple point cloud reporting opportunities. The first point cloud reporting opportunity may be associated with reporting of at least one non-cellular point cloud. Network entity 1360 includes components for receiving, during a second point cloud reporting opportunity among the multiple point cloud reporting opportunities, a second indication of a second point cloud from the first network entity. The second point cloud may be based on cellular sensing. The second point cloud reporting opportunity may be associated with reporting of at least one cellular point cloud. In one configuration, the first network entity may be a UE or a TRP. Network entity 1360 includes components for receiving an indication of a selected point cloud reporting mode from the first network entity. The selected point cloud reporting mode may be based on power saving operations at the first network entity. The selected point cloud reporting mode may correspond to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disabled mode. In one configuration, the first network entity may be a TRP. The power saving operations at the first network entity may correspond to a network energy state. In one configuration, the network entity may include at least one of a UE, a TRP, or a base station. The second network entity may include a sensing entity.

[0164] The component may be component 1399 of network entity 1360 configured to perform the functions recited by the component.

[0165] Return reference Figures 5 to 13 , the first network entity may send an indication of the point cloud reporting capability of the first network entity to the second network entity. The point cloud reporting capability of the first network entity may include capabilities associated with heterogeneous point cloud reporting. The first network entity may identify the first point cloud based on non-cellular sensing. The first network entity may send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity. Thus, non-cellular point clouds may be reported by the entity performing sensing / reporting, either alone or together with cellular point clouds, to the sensing entity.

[0166] It should be understood that the specific order or hierarchy of the boxes in the disclosed process / flowchart is only an illustration of the exemplary method. It should be understood that, based on design preferences, the specific order or hierarchy of the boxes in the process / flowchart can be rearranged. Further, some boxes can be combined or omitted. The appended method claims present the elements of the various boxes in a sample order, but are not limited to the specific order or hierarchy presented.

[0167] The foregoing description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects. Thus, the claims are not limited to the aspects described herein, but are to be accorded the full scope consistent with the language of the claims, where a reference to an element in the singular is not intended to mean "one and only one" but rather "one or more" unless specifically stated otherwise. Terms such as "if," "when," and "while" do not denote a direct temporal relationship or reaction. That is, these phrases, such as "when...," do not mean an immediate action in response to or during the occurrence of an action, but rather simply imply that if a condition is met, then the action will occur, without requiring a specific or immediate time limitation for the occurrence of the action. The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any aspect described herein as "exemplary" is not necessarily to be construed as preferred or having an advantage over other aspects. Unless specifically stated otherwise, the term "some" refers to one or more. Combinations such as "at least one of A, B, or C," "one or more of A, B, or C," "at least one of A, B, and C," "one or more of A, B, and C," and "any combination of A, B, C, or any of them," including any combination of A, B, and / or C, may include multiple A's, multiple B's, or multiple C's. Specifically, combinations such as "at least one of A, B, or C," "one or more of A, B, or C," "at least one of A, B, and C," "one or more of A, B, and C," and "any combination of A, B, C, or any of them" can be only A, only B, only C, A and B, A and C, B and C, or A and B and C, where any such combination may contain one or more members of A, B, or C. A set should be construed as a collection of elements where the number of elements is one or more. Thus, for a set of X, X will include one or more elements. If a first device receives data from or sends data to a second device, the data may be received / sent directly between the first and second devices or indirectly between the first and second devices through a collection of devices. All structural and functional equivalents of the elements of the aspects described throughout this disclosure that are known or later will be known to those of ordinary skill in the art are expressly incorporated herein by reference and are covered by the claims. Additionally, nothing disclosed herein is intended to be dedicated to the public, whether or not such disclosure is expressly recited in the claims. The words "module," "mechanism," "element," "device," etc. do not substitute for the word "component." Thus, no claim element shall be construed as a means-plus-function unless the element is expressly recited using the phrase "means for...".

[0168] As used herein, the phrase "based on" should not be construed to mean a closed set of information, one or more conditions, one or more factors, etc. In other words, the phrase "based on A" (where "A" can be information, a condition, a factor, etc.) should be construed as "at least based on A", unless stated otherwise specifically.

[0169] The following aspects are merely illustrative and can be combined with other aspects or teachings described herein without limitation.

[0170] Aspect 1 is a method for wireless communication at a first network entity, the method comprising: sending, to a second network entity, an indication of the point cloud reporting capability of the first network entity, the point cloud reporting capability of the first network entity including a capability associated with heterogeneous point cloud reporting; identifying a first point cloud based on non-cellular sensing; and sending, to the second network entity, a first indication of the first point cloud based on the point cloud reporting capability of the first network entity.

[0171] Aspect 2 is the method according to aspect 1, wherein the point cloud reporting capability of the first network entity corresponds to one or more of at least one reportable attribute, a point cloud source, or a frequency of point cloud generation.

[0172] Aspect 3 is the method according to aspect 2, wherein the point cloud source corresponds to at least one of a cellular transceiver, an FMCW radar, a Wi-Fi transceiver, or a lidar device.

[0173] Aspect 4 is the method according to any one of aspects 1 to 3, the method further comprising: receiving, from the second network entity, a configuration of a plurality of point cloud reporting opportunities.

[0174] Aspect 5 is the method according to aspect 4, wherein sending the first indication of the first point cloud further comprises: sending, to the second network entity, the first indication of the first point cloud at a first point cloud reporting opportunity among the plurality of point cloud reporting opportunities, and the method further comprises: sending, to the second network entity, a second indication of a second point cloud at the first point cloud reporting opportunity, the second point cloud being based on cellular sensing.

[0175] Aspect 6 is the method according to aspect 4, wherein sending the first indication of the first point cloud further includes: sending the first indication of the first point cloud for the second network entity at a first point cloud reporting opportunity among the multiple point cloud reporting opportunities, the first point cloud reporting opportunity being associated with reporting of at least one non-cellular point cloud, and the method further includes: sending a second indication of a second point cloud for the second network entity at a second point cloud reporting opportunity among the multiple point cloud reporting opportunities, the second point cloud being based on cellular sensing, the second point cloud reporting opportunity being associated with reporting of at least one cellular point cloud.

[0176] Aspect 7 is the method according to any one of aspects 1 to 6, the method further includes: identifying a second point cloud and a third point cloud, the second point cloud and the third point cloud including a reference point cloud and a non-reference point cloud; modifying or excluding at least one cloud point in the reference point cloud based on correlating the reference point cloud with the non-reference point cloud; and sending a second indication of the reference point cloud with the modified at least one cloud point or without the excluded at least one cloud point for the second network entity.

[0177] Aspect 8 is the method according to aspect 7, wherein the second point cloud and the third point cloud include a cellular point cloud and a non-cellular point cloud, and the method further includes: receiving an indication of the reference point cloud from between the second point cloud and the third point cloud from the second network entity.

[0178] Aspect 9 is the method according to any one of aspects 7 and 8, wherein excluding the at least one cloud point further includes: excluding the at least one cloud point in response to a deviation of the at least one cloud point from a corresponding cloud point in the non-reference point cloud being greater than a threshold.

[0179] Aspect 10 is the method according to any one of aspects 1 to 9, wherein the first network entity is a UE or a TRP, and the method further includes: selecting a point cloud reporting mode for the first network entity based on a power saving operation at the first network entity, the point cloud reporting mode corresponding to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disabled mode; sending an indication of the selected point cloud reporting mode for the second network entity; and avoiding generating or reporting one or more point clouds based on cellular sensing or non-cellular sensing when the selected point cloud reporting mode corresponds to the single type point cloud reporting mode, or avoiding generating or reporting any point clouds when the selected point cloud reporting mode corresponds to the point cloud reporting disabled mode.

[0180] Aspect 11 is the method according to aspect 10, wherein the first network entity is the TRP, and the power saving operation at the first network entity corresponds to a network energy state.

[0181] Aspect 12 is the method according to any one of Aspects 1 to 11, wherein the first network entity is a TRP, and the method further includes: adjusting an antenna configuration at the first network entity based on a power saving operation at the first network entity, the antenna configuration corresponding to enabling or disabling one or more antennas or antenna panels.

[0182] Aspect 13 is the method according to any one of Aspects 1 to 12, wherein the first network entity includes one of a UE, a TRP, or a base station, and the second network entity includes a sensing entity.

[0183] Aspect 14 is a method for wireless communication at a second network entity, the method including: receiving, from a first network entity, an indication of a point cloud reporting capability of the first network entity, the point cloud reporting capability of the first network entity including a capability associated with heterogeneous point cloud reporting; and receiving, based on the point cloud reporting capability of the first network entity, a first indication of a first point cloud from the first network entity, the first point cloud being based on non-cellular sensing.

[0184] Aspect 15 is the method according to Aspect 14, wherein the point cloud reporting capability of the first network entity corresponds to one or more of at least one reportable attribute, a point cloud source, or a frequency of point cloud generation.

[0185] Aspect 16 is the method according to Aspect 15, wherein the point cloud source corresponds to at least one of a cellular transceiver, an FMCW radar, a Wi-Fi transceiver, or a lidar device.

[0186] Aspect 17 is the method according to any one of Aspects 14 to 16, the method further including: configuring a plurality of point cloud reporting opportunities for the first network entity.

[0187] Aspect 18 is the method according to Aspect 17, wherein receiving the first indication of the first point cloud further includes: receiving the first indication of the first point cloud from the first network entity in a first point cloud reporting opportunity among the plurality of point cloud reporting opportunities, and the method further includes: receiving a second indication of a second point cloud from the first network entity in the first point cloud reporting opportunity, the second point cloud being based on cellular sensing.

[0188] Aspect 19 is the method according to aspect 17, wherein receiving the first indication of the first point cloud further includes: receiving, at a first point cloud reporting occasion among the multiple point cloud reporting occasions, the first indication of the first point cloud from the first network entity, the first point cloud reporting occasion being associated with the reporting of at least one non-cellular point cloud, and the method further includes: receiving, at a second point cloud reporting occasion among the multiple point cloud reporting occasions, a second indication of a second point cloud from the first network entity, the second point cloud being based on cellular sensing, the second point cloud reporting occasion being associated with the reporting of at least one cellular point cloud.

[0189] Aspect 20 is the method according to any one of aspects 14 to 19, wherein the first network entity is a UE or a TRP, and the method further includes: receiving an indication of a selected point cloud reporting mode from the first network entity, the selected point cloud reporting mode being based on power saving operations at the first network entity, the selected point cloud reporting mode corresponding to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disable mode.

[0190] Aspect 21 is the method according to aspect 20, wherein the first network entity is the TRP, and the power saving operation at the first network entity corresponds to a network energy state.

[0191] Aspect 22 is the method according to any one of aspects 14 to 21, wherein the first network entity includes one of a UE, a TRP, or a base station, and the second network entity includes a sensing entity.

[0192] Aspect 23 is a device for wireless communication, the device including: at least one processor, the at least one processor being coupled to a memory, and at least partially based on information stored in the memory, the at least one processor being configured to implement the method according to any one of aspects 1 to 22.

[0193] Aspect 24 can be combined with aspect 23 and further includes: a transceiver, the transceiver being coupled to the at least one processor.

[0194] Aspect 25 is a device for wireless communication, the device including components for implementing any one of aspects 1 to 22.

[0195] Aspect 26 is a non-transitory computer-readable storage medium storing computer-executable code, wherein the code, when executed by a processor, causes the processor to implement any one of aspects 1 to 22.

[0196] Aspects have been described herein. These aspects and other aspects are within the scope of the following claims.

Claims

1. An apparatus for wireless communication at a first network entity, comprising: a memory; and at least one processor coupled to the memory and configured to, at least in part based on information stored in the memory: send an indication of the point cloud reporting capability of the first network entity to a second network entity, the point cloud reporting capability of the first network entity including a capability associated with heterogeneous point cloud reporting; identify a first point cloud based on non-cellular sensing; and send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity.

2. The apparatus according to claim 1, wherein the point cloud reporting capability of the first network entity corresponds to one or more of at least one reportable attribute, a point cloud source, or a frequency of point cloud generation.

3. The apparatus according to claim 2, wherein the point cloud source corresponds to at least one of a cellular transceiver, a frequency modulated continuous wave (FMCW) radar, a Wi-Fi transceiver, or a light detection and ranging (lidar) device.

4. The apparatus according to claim 1, wherein the at least one processor is further configured to: receive a configuration of a plurality of point cloud reporting opportunities from the second network entity.

5. The apparatus according to claim 4, wherein, in order to send the first indication of the first point cloud, the at least one processor is configured to: send the first indication of the first point cloud to the second network entity at a first point cloud reporting opportunity among the plurality of point cloud reporting opportunities, the first point cloud reporting opportunity being associated with reporting of at least one non-cellular point cloud and at least one cellular point cloud, and the at least one processor is further configured to: send a second indication of a second point cloud to the second network entity at the first point cloud reporting opportunity, the second point cloud being based on cellular sensing.

6. The apparatus according to claim 4, wherein, in order to send the first indication of the first point cloud, the at least one processor is configured to: send the first indication of the first point cloud to the second network entity at a first point cloud reporting opportunity among the plurality of point cloud reporting opportunities, the first point cloud reporting opportunity being associated with reporting of at least one non-cellular point cloud, and the at least one processor is further configured to: send a second indication of a second point cloud to the second network entity at a second point cloud reporting opportunity among the plurality of point cloud reporting opportunities, the second point cloud being based on cellular sensing and the second point cloud reporting opportunity being associated with reporting of at least one cellular point cloud.

7. The apparatus according to claim 1, wherein the at least one processor is further configured to: identify a second point cloud and a third point cloud, the second point cloud and the third point cloud including a reference point cloud and a non-reference point cloud; modify or exclude at least one cloud point in the reference point cloud based on correlating the reference point cloud with the non-reference point cloud; and Send a second indication of the reference point cloud with the modified at least one cloud point or without the excluded at least one cloud point to the second network entity.

8. The apparatus according to claim 7, wherein the second point cloud and the third point cloud include a cellular point cloud and a non-cellular point cloud, and the at least one processor is further configured to: Receive an indication of the reference point cloud from between the second point cloud and the third point cloud from the second network entity.

9. The apparatus according to claim 7, wherein in order to exclude the at least one cloud point, the at least one processor is configured to exclude the at least one cloud point in response to a deviation of the at least one cloud point from a corresponding cloud point in the non-reference point cloud being greater than a threshold.

10. The apparatus according to claim 1, wherein the first network entity is a user equipment (UE) or a transmit receive point (TRP), and the at least one processor is further configured to: Select a point cloud reporting mode for the first network entity based on a power saving operation at the first network entity, the point cloud reporting mode corresponding to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disabled mode; Send an indication of the selected point cloud reporting mode to the second network entity; and Avoid generating or reporting one or more point clouds based on cellular sensing or non-cellular sensing when the selected point cloud reporting mode corresponds to the single type point cloud reporting mode, or avoid generating or reporting any point clouds when the selected point cloud reporting mode corresponds to the point cloud reporting disabled mode.

11. The apparatus according to claim 10, wherein the first network entity is the TRP, and the power saving operation at the first network entity corresponds to a network energy state.

12. The apparatus according to claim 1, wherein the first network entity is a transmit receive point (TRP), and the at least one processor is further configured to: Adjust an antenna configuration at the first network entity based on a power saving operation at the first network entity, the antenna configuration corresponding to enabling or disabling one or more antennas or antenna panels.

13. The apparatus according to claim 1, wherein the first network entity includes one of a user equipment (UE), a transmit receive point (TRP), or a base station, and the second network entity includes a sensing entity.

14. The device according to claim 1, wherein the device further comprises: A transceiver coupled to the at least one processor, wherein in order to send the indication of the point cloud reporting ability and the first indication of the first point cloud, the at least one processor is configured to send the indication of the point cloud reporting ability and the first indication of the first point cloud via the transceiver.

15. A method for wireless communication at a first network entity, the method comprising: Send an indication of the point cloud reporting ability of the first network entity to a second network entity, the point cloud reporting ability of the first network entity including an ability associated with heterogeneous point cloud reporting; Identify a first point cloud based on non-cellular sensing; And Send a first indication of the first point cloud to the second network entity based on the point cloud reporting capability of the first network entity.

16. An apparatus for wireless communication at a second network entity, comprising: A memory; And At least one processor coupled to the memory and configured, at least in part, based on information stored in the memory, to: Receive an indication of the point cloud reporting capability of a first network entity, the point cloud reporting capability of the first network entity including capabilities associated with heterogeneous point cloud reporting; And Receive a first indication of a first point cloud from the first network entity based on the point cloud reporting capability of the first network entity, the first point cloud being based on non-cellular sensing.

17. The apparatus of claim 16, wherein the point cloud reporting capability of the first network entity corresponds to one or more of at least one reportable attribute, a point cloud source, or a frequency of point cloud generation.

18. The apparatus of claim 17, wherein the point cloud source corresponds to at least one of a cellular transceiver, a frequency modulated continuous wave (FMCW) radar, a Wi-Fi transceiver, or a light detection and ranging (lidar) device.

19. The apparatus of claim 16, the at least one processor further configured to: Send a configuration of multiple point cloud reporting opportunities to the first network entity.

20. The apparatus of claim 19, wherein, to receive the first indication of the first point cloud, the at least one processor is configured to: receive the first indication of the first point cloud from the first network entity at a first point cloud reporting opportunity among the multiple point cloud reporting opportunities, and the at least one processor is further configured to: Receive a second indication of a second point cloud from the first network entity at the first point cloud reporting opportunity, the second point cloud being based on cellular sensing.

21. The apparatus of claim 19, wherein, to receive the first indication of the first point cloud, the at least one processor is configured to: receive the first indication of the first point cloud from the first network entity at a first point cloud reporting opportunity among the multiple point cloud reporting opportunities, the first point cloud reporting opportunity being associated with reporting of at least one non-cellular point cloud, and the at least one processor is further configured to: Receive a second indication of a second point cloud from the first network entity at a second point cloud reporting opportunity among the multiple point cloud reporting opportunities, the second point cloud being based on cellular sensing, the second point cloud reporting opportunity being associated with reporting of at least one cellular point cloud.

22. The apparatus of claim 16, wherein the first network entity is a user equipment (UE) or a transmit receive point (TRP), and the at least one processor is further configured to: Receive an indication of a selected point cloud reporting mode from the first network entity, the selected point cloud reporting mode being based on power saving operations at the first network entity and corresponding to a full point cloud reporting mode, a single type point cloud reporting mode, or a point cloud reporting disabled mode.

23. The apparatus according to claim 22, wherein the first network entity is the TRP, and the power saving operation at the first network entity corresponds to a network energy state.

24. The apparatus according to claim 16, wherein the first network entity comprises one of a user equipment (UE), a transmit receive point (TRP), or a base station, and the second network entity comprises a sensing entity.

25. The apparatus according to claim 16, the apparatus further comprising: A transceiver coupled to the at least one processor, wherein, in order to receive the indication of the point cloud reporting capability and the first indication of the first point cloud, the at least one processor is configured to receive the indication of the point cloud reporting capability and the first indication of the first point cloud via the transceiver.

26. A method for wireless communication at a second network entity, the method comprising: Receive an indication of the point cloud reporting capability of the first network entity from the first network entity, the point cloud reporting capability of the first network entity including a capability associated with heterogeneous point cloud reporting; and Receive a first indication of a first point cloud from the first network entity based on the point cloud reporting capability of the first network entity, the first point cloud being based on non-cellular sensing.

27. The method according to claim 26, wherein the point cloud reporting capability of the first network entity corresponds to one or more of at least one reportable attribute, a point cloud source, or a frequency of point cloud generation.

28. The method according to claim 27, wherein the point cloud source corresponds to at least one of a cellular transceiver, a frequency modulated continuous wave (FMCW) radar, a Wi-Fi transceiver, or a light detection and ranging (lidar) device.

29. The method according to claim 26, the method further comprising: Transmit a configuration of a plurality of point cloud reporting opportunities for the first network entity.

30. The method according to claim 29, wherein receiving the first indication of the first point cloud comprises receiving the first indication of the first point cloud from the first network entity in a first point cloud reporting opportunity among the plurality of point cloud reporting opportunities, and the method further comprises: Receive a second indication of a second point cloud from the first network entity in the first point cloud reporting opportunity, the second point cloud being based on cellular sensing.

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