Environment reconstruction method and communication device

Abstract

The invention provides an environment reconstruction method and a communication device, and the method comprises the steps: a first device obtains first indication information, the first indication information is used for indicating the resolution information of an environment map, and the environment map is composed of base elements; the first equipment controls the resolution of the base element according to the first indication information, and the type of the base element comprises one or more geometric types and / or one or more attribute types. In the embodiment of the invention, the first equipment can obtain the indication information used for indicating the resolution information of the environment map, and controls the resolution of the base element according to the indication information, so that the resolution can be adopted when the environment map is sent or received, and the flexibility of environment reconstruction can be enhanced. In addition, the environmental map can be composed of multiple base elements, so that a complex structure in the environmental map can be processed, excessive parameters are not introduced, the calculation complexity is reduced, and the data transmission quantity is reduced.

Description

A method for environmental reconstruction and a communication device Technical Field

[0001] The present application relates to the field of communications, and more particularly, to an environment reconstruction method and a communication device. Background Art

[0002] In environmental reconstruction, multiple terminal devices can perceive the same environment from different viewing angles. Therefore, the perception results of multiple terminal devices can be sent to the base station, which fuses them into a complete, large environmental map, or performs other perception tasks based on the fusion results to reduce the power consumption and transmission overhead of each terminal device. In addition, since each terminal device can observe different viewing angles, by fusing the perception results of multiple devices, the occlusion / blind spot problem caused by obstacles can be solved to obtain more refined reconstruction or better task execution results. Currently, the original environmental information can be collected through methods such as optical scanning, lidar, visual simultaneous localization and mapping (SLAM), remote sensing, and light field reconstruction, and then the collected original environmental information is processed based on different environmental reconstruction schemes. At present, the environmental reconstruction schemes are only targeted at a single geometric type. At the same time, the existing schemes for the configuration of environmental reconstruction resolution only stay at the stage of coarse unified configuration and numerical quantitative accuracy configuration. As a result, there are problems such as the following: (1) Lack of standards and universality. Different application scenarios and different tasks require different geometric types and resolutions of environmental reconstruction, and there is a lack of universal definitions and solutions. (2) Increase the pressure on air interface transmission. Different tasks and different spaces require different data accuracy and resolution. Using a unified configuration will generate a huge amount of data on the end side, which will increase the pressure on air interface transmission during the data feedback and reporting stage. (3) It is difficult to handle complex structures. When using a single geometry type to fit a complex geometry, it may be necessary to introduce many parameters, which increases the computational complexity. (4) Data storage issues. For the environmental reconstruction of large and complex scenes, if multiple environmental reconstruction schemes are used at the same time, complex data with different formats and large scale will be generated, which will bring huge challenges to data compression and storage. (5) Poor dynamic environment processing capabilities. Solutions that use a single geometry type and a single resolution configuration will be difficult to adapt to rapid changes in the environment.

[0003] Summary of the Invention

[0004] The present application provides an environment reconstruction method and a communication device for improving the flexibility of environment reconstruction and reducing the amount of data transmission.

[0005] In a first aspect, a method for environment reconstruction is provided, the method comprising: a first device obtains first indication information, the first indication information being used to indicate resolution information of an environment map, the environment map being composed of basic elements; the first device controls the resolution of the basic elements according to the first indication information.

[0006] In an embodiment of the present application, the first device can obtain indication information indicating the resolution of the environment map and control the resolution of the base element based on the indication information, so that the resolution can be used when sending or receiving the environment map, thereby enhancing the flexibility of environment reconstruction. In addition, because the environment map can be composed of multiple base elements, complex structures in the environment map can be processed without introducing excessive parameters, reducing computational complexity and alleviating data transmission volume.

[0007] In combination with the first aspect, in certain implementations of the first aspect, the first device controls the resolution of the base element according to the first indication information, including: the first device controls the parameter resolution and / or number resolution of the base element according to the first indication information.

[0008] In combination with the first aspect, in some implementations of the first aspect, the type of the base element includes a geometric type and / or an attribute type, the geometric type includes at least one of the following: point, line, curve, plane, surface, voxel, sphere, prism, cylinder, cone, octree, and the attribute type includes at least one of the following: material, texture, color, magnetic permeability, dielectric constant, scattering coefficient, and mass.

[0009] In combination with the first aspect, in some implementations of the first aspect, the first indication information includes a control parameter resolution and / or a number resolution of the base element.

[0010] In combination with the first aspect, in some implementations of the first aspect, the first indication information includes attribute parameter resolution.

[0011] In combination with the first aspect, in some implementations of the first aspect, the method also includes: the first device obtains second indication information, and the second indication information is used to indicate the correspondence between the base element and the resolution, wherein the first indication information is an index of the correspondence.

[0012] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the first device sending and / or receiving a first environment map according to the first indication information.

[0013] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the first device sending and / or receiving resolution information corresponding to the first environment map.

[0014] In combination with the first aspect, in some implementations of the first aspect, the first indication information includes multiple resolution information, each of the multiple resolution information corresponds to a different area of ​​the environment map and / or corresponds to a different perception task.

[0015] In an embodiment of the present application, different areas of the environmental map and / or different perception tasks may correspond to different resolutions, respectively. The first device may adopt different resolutions for perception of different areas of the environmental map and / or different perception tasks, thereby enhancing the flexibility of environmental reconstruction.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the correspondence between each of the multiple resolution information and a different area of ​​the environment map is indicated by an area identifier of the different area, or by different time-frequency resources; the correspondence between each of the multiple resolution information and a different perception task is indicated by an identifier of the different perception task, or by the different time-frequency resources.

[0017] In combination with the first aspect, in some implementations of the first aspect, the first indication information is received from the second device, or is agreed upon by a protocol, or is preset in the first device.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the first indication information is received from a second device, and the method further includes: the first device sends perception capability information to the second device so that the second device determines the first indication information based on the perception capability information.

[0019] In an embodiment of the present application, the second device can determine the resolution of the environment map based on the perception capability reported by the first device, so that different environment map resolutions can be determined for different devices, which can improve the flexibility of environment reconstruction.

[0020] In a second aspect, a method for environment reconstruction is provided, which includes: a second device sends first indication information to a first device, where the first indication information is used to indicate resolution information of an environment map, where the environment map is composed of basic elements, so that the first device controls the resolution of the basic elements according to the first indication information.

[0021] In combination with the second aspect, in some implementations of the second aspect, the type of the base element includes a geometric type and / or an attribute type, the geometric type includes at least one of the following: point, line, curve, plane, surface, voxel, sphere, prism, cylinder, cone, octree, and the attribute type includes at least one of the following: material, texture, color, magnetic permeability, dielectric constant, scattering coefficient, and mass.

[0022] In combination with the second aspect, in some implementations of the second aspect, the first indication information includes a control parameter resolution and / or a number resolution of the base element.

[0023] In combination with the second aspect, in some implementations of the second aspect, the first indication information includes attribute parameter resolution.

[0024] In combination with the second aspect, in some implementations of the second aspect, the method also includes: the second device sends second indication information to the first device, and the second indication information is used to indicate the correspondence between the base element and the resolution, wherein the first indication information is an index of the correspondence.

[0025] In combination with the second aspect, in some implementations of the second aspect, the method further includes: the second device sending and / or receiving the first environment map.

[0026] In combination with the second aspect, in some implementations of the second aspect, the second device sends and / or receives resolution information corresponding to the first environment map.

[0027] In combination with the second aspect, in some implementations of the second aspect, the first indication information includes multiple resolution information, each of the multiple resolution information corresponds to a different area of ​​the environment map and / or corresponds to a different perception task.

[0028] In combination with the second aspect, in certain implementations of the second aspect, the correspondence between each of the multiple resolution information and a different area of ​​the environment map is indicated by an area identifier of the different area, or by different time-frequency resources; the correspondence between each of the multiple resolution information and a different perception task is indicated by an identifier of the different perception task, or by the different time-frequency resources.

[0029] In combination with the second aspect, in some implementations of the second aspect, the method further includes: receiving perception capability information sent by the first device; and determining the first indication information based on the perception capability information.

[0030] In a third aspect, a method for environment reconstruction is provided, the method comprising: a first device receiving an environment map and resolution information corresponding to the environment map sent by a second device, the environment map being composed of basic elements.

[0031] Exemplarily, the first device may be a base station or a terminal device. The second device may be a base station or a terminal device. After receiving the environment map and the resolution information corresponding to the environment map, the first device may design a resolution indication based on the resolution information to indicate another device (e.g., the second device).

[0032] In a fourth aspect, a communication device is provided, the device being configured to execute the method provided in any one of the first to third aspects. Specifically, the device may include units and / or modules, such as a processing unit and / or a communication unit, configured to execute the method provided in any one of the above implementations of any one of the first to third aspects.

[0033] In one implementation, the apparatus is a communication device (e.g., a terminal device or a network device). When the apparatus is a communication device, the communication unit may be a transceiver or an input / output interface; the processing unit may be at least one processor. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input / output interface may be an input / output circuit.

[0034] In another implementation, the device is a chip, chip system, or circuit used in a communication device (such as a terminal device or a network device). When the device is a chip, chip system, or circuit used in a communication device, the communication unit may be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip, chip system, or circuit; and the processing unit may be at least one processor, processing circuit, or logic circuit.

[0035] In a fifth aspect, a communication device is provided, which includes: a memory for storing programs; and at least one processor for executing computer programs or instructions stored in the memory to execute the method provided in any one of the above-mentioned implementations of any one of the above-mentioned first to fourth aspects.

[0036] In one implementation, the apparatus is a communication device (such as a terminal device or a network device).

[0037] In another implementation, the device is a chip, a chip system, or a circuit used in a communication device (such as a terminal device or a network device).

[0038] In a sixth aspect, the present application provides a processor for executing the methods provided in the above aspects.

[0039] For the operations such as sending and acquiring / receiving involved in the processor, unless otherwise specified, or if they do not conflict with their actual functions or internal logic in the relevant descriptions, they can be understood as operations such as processor output and input, or as sending and receiving operations performed by the radio frequency circuit and antenna. This application does not limit this.

[0040] In a seventh aspect, a computer-readable storage medium is provided, which stores a program code for execution by a device, and the program code includes a method provided by any one of the above-mentioned implementation methods for executing any one of the above-mentioned first to fourth aspects.

[0041] In an eighth aspect, a computer program product comprising instructions is provided, which, when run on a computer, enables the computer to execute the method provided by any one of the above-mentioned implementations of any one of the above-mentioned first to fourth aspects.

[0042] In the ninth aspect, a chip is provided, which includes a processor and a communication interface. The processor reads instructions stored in a memory through the communication interface and executes the method provided by any one of the above-mentioned implementation methods of any one of the above-mentioned first to fourth aspects.

[0043] Optionally, as an implementation method, the chip also includes a memory, in which a computer program or instruction is stored, and the processor is used to execute the computer program or instruction stored on the memory. When the computer program or instruction is executed, the processor is used to execute the method provided in any one of the above-mentioned implementation methods of any one of the first to fourth aspects.

[0044] In a tenth aspect, a communication system is provided, comprising the first device and the second device described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a schematic diagram of a wireless communication system applicable to an embodiment of the present application.

[0046] FIG2 is a schematic diagram of polygon control parameter adjustment provided by an embodiment of the present application.

[0047] FIG3 is a schematic diagram of control parameter adjustment of a curved surface provided in an embodiment of the present application.

[0048] FIG4 is a schematic diagram of adjusting control parameters of a voxel provided in an embodiment of the present application.

[0049] FIG5 is a schematic diagram of adjusting the number of basic elements provided in an embodiment of the present application.

[0050] FIG6 is a schematic diagram of adjusting the number of base elements provided in an embodiment of the present application.

[0051] FIG7 is a schematic flow chart of the method for environment reconstruction provided in an embodiment of the present application.

[0052] FIG8 is a schematic diagram of resolution information corresponding to base elements provided in an embodiment of the present application.

[0053] FIG9 is a schematic diagram of resolution information corresponding to the same basic elements provided in an embodiment of the present application.

[0054] FIG10 is a schematic diagram of resolutions corresponding to different regions provided in an embodiment of the present application.

[0055] FIG11 is a schematic diagram of a communication device provided in an embodiment of the present application.

[0056] FIG12 is a schematic diagram of another communication device provided in an embodiment of the present application.

[0057] FIG13 is a schematic diagram of a chip system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The technical solution in this application will be described below with reference to the accompanying drawings.

[0059] The technical solutions provided in this application can be applied to various communication systems, such as: sixth generation (6G) system, fifth generation (5G) or new radio (NR) system, long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, etc. The technical solutions provided in this application can also be applied to future communication systems. The technical solutions provided in this application can also be applied to device to device (D2D) communication, vehicle-to-everything (V2X) communication, machine to machine (M2M) communication, machine type communication (MTC), and Internet of Things (IoT) communication systems or other communication systems. The technology provided in this application can also be applied to wireless local area networks (WLANs), for example, supporting Institute of Electrical and Electronics Engineers (IEEE) 802.11 related standards, such as 802.11a / b / g standards, 802.11n standards, 802.11ac standards, 802.11ax standards, IEEE 802.11ax next-generation Wi-Fi protocols, such as 802.11be, Wi-Fi 7, extremely high throughput (EHT), 802.11ad, 802.11ay or 802.11bf, such as the next generation of 802.11be, Wi-Fi 8, etc., and can also be applied to wireless personal area network systems based on ultra-wide band (UWB), such as the 802.15 series standards, and can also be applied to sensing systems, such as the 802.11bf series standards. Among them, the 802.11n standard is called the high throughput (HT) standard, the 802.11ac standard is called the very high throughput (VHT) standard, the 802.11ax standard is called the high efficiency (HE) standard, and the 802.11be standard is called the extremely high throughput (EHT) standard.802.11bf includes two broad categories of standards: low-frequency (e.g., sub-7 GHz) and high-frequency (e.g., 60 GHz). Sub-7 GHz implementations primarily rely on 802.11ac, 802.11ax, 802.11be, and their next-generation standards, while 60 GHz implementations primarily rely on 802.11ad, 802.11ay, and their next-generation standards. 802.11ad is also known as the directional multi-gigabit (DMG) standard, and 802.11ay is also known as the enhanced directional multi-gigabit (EDMG) standard.

[0060] The terminal device in the embodiments of the present application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device.

[0061] The terminal device can be a device that provides voice / data to users, for example, a handheld device or vehicle-mounted device with a wireless connection function. At present, some examples of terminals are: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, wearable devices, terminal devices in 5G networks or future evolved public land mobile communication networks (PLMNs). The terminal equipment in the network (PLMN), etc., is not limited to this in the embodiments of the present application.

[0062] As an example and not a limitation, in the embodiment of the present application, the terminal device may also be a wearable device. Wearable devices may also be called wearable smart devices, which are a general term for wearable devices that are intelligently designed and developed using wearable technology for daily wear, such as glasses, gloves, watches, clothing, and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not only hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are fully functional, large in size, and can achieve complete or partial functions without relying on smartphones, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0063] In the embodiments of the present application, the device for implementing the function of the terminal device can be the terminal device, or it can be a device that can support the terminal device to implement the function, such as a chip system or chip, which can be installed in the terminal device. In the embodiments of the present application, the chip system can be composed of a chip, or it can include a chip and other discrete devices.

[0064] The network device in the embodiments of the present application may be a device for communicating with a terminal device, and may also be referred to as an access network device or a radio access network device. For example, the network device may be a base station. The network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. Base station can broadly cover various names as follows, or replace the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmission point (TRP), transmission point (TP), master station, auxiliary station, multi-standard wireless (motor slide retainer, MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The base station can be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof. The base station can also refer to a communication module, modem or chip used to be set in the aforementioned device or apparatus. The base station can also be a mobile switching center and a device that performs base station functions in D2D, V2X, and M2M communications, a network-side device in a 6G network, or a device that performs base station functions in future communication systems. The base station can support networks with the same or different access technologies. The embodiments of this application do not limit the specific technology and specific device form used by the network equipment.

[0065] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move based on the location of the mobile base station. In other examples, a helicopter or drone can be configured to act as a device that communicates with another base station.

[0066] In some deployments, the network device mentioned in the embodiments of the present application may be a device including a CU, or a DU, or a device including a CU and a DU, or a control plane CU node (central unit of the control plane (central unit-control plane, CU-CP)) and a user plane CU node (central unit of the user plane (central unit-user plane, CU-UP)) and a DU node.

[0067] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0068] In the embodiments of the present application, the terminal device and the network device can transmit data through a variety of data transmission methods, which are not limited in the embodiments of the present application.

[0069] One uplink data transmission method is uplink transmission based on dynamic grant (DG) (or dynamic uplink grant (UL grant)). In this method, when a terminal has user-plane data to send to a base station, the terminal can monitor the DCI sent by the base station via the physical downlink control channel (PDCCH). The DCI carries an uplink grant (UL grant), which can be used to authorize the terminal to transmit uplink data on specified time-frequency resources using specified parameters, such as a specified modulation and coding scheme (MCS). Before monitoring the DCI, the terminal can first send a scheduling request (SR) to the base station via the physical uplink control channel (PUCCH) or report the buffer state (BS) to the base station via the physical uplink shared channel (PUSCH). This is used to inform the base station of the uplink transmission requirement or buffer state, so that the base station can perform uplink authorization and resource scheduling based on the requirement.

[0070] Among them, the terminal device can monitor the PDCCH to obtain DCI according to the PDCCH configuration. The PDCCH configuration may include control-resource set (CORESET) configuration, search space configuration, radio network temporary identifier (RNTI) configuration for scrambling / descrambling PDCCH, signaling format configuration, or other configurations for PDCCH detection.

[0071] The time-frequency resources used to transmit DCI belong to the configured control-resource set (CORESET). The terminal device can detect the candidate time-frequency resource positions in the CORESET to receive DCI.

[0072] It is understandable that the uplink data transmission method provided in the embodiment of the present application may also include data transmission during a random access (RA) process or data transmission based on grant-free (GF), without specific requirements.

[0073] Based on similar principles, the network device in this application can send downlink data to the terminal device. The downlink data here includes but is not limited to physical layer data. The general downlink data communication process is that the network device sends PDCCH, which contains scheduling information (such as DCI) of the physical downlink shared channel (PDSCH). The scheduling information of PDSCH includes, for example, information such as the time-frequency resources of PDSCH. The PDSCH carries the downlink data sent by the base station to the UE. The UE receives the downlink data from the network device according to the scheduling of the PDCCH.

[0074] For ease of description, the data appearing below may include uplink data or downlink data. In addition, the uplink data in this application may also be replaced by downlink data, for example, "sending uplink data" and "receiving downlink data" may be replaced with each other, and "sending downlink data" and "receiving uplink data" may be replaced with each other.

[0075] Optionally, the technical solutions provided in the embodiments of the present application may also be applied to sidelink (SL) communications, in which one terminal device can initiate paging or access to another terminal device. For example, the technical solutions provided in the embodiments of the present application may be applied to device-to-device (D2D) communication scenarios, such as NR D2D communication scenarios and / or LTE D2D communication scenarios, etc.; or may be applied to vehicle-to-everything (V2X) communication scenarios, such as NR V2X communication scenarios, LTE V2X communication scenarios, Internet of Vehicles communication scenarios, and / or vehicle-to-vehicle (V2V) communication scenarios, etc.; or may be used in the fields of intelligent driving, intelligent connected vehicles, etc. Therefore, the data in the present application may also include data in sidelink communication scenarios.

[0076] First, a communication system applicable to an embodiment of the present application will be briefly described with reference to FIG1 . FIG1 is a schematic diagram of a wireless communication system 100 applicable to an embodiment of the present application, as an example. As shown in FIG1 , the wireless communication system 100 may include at least one network device, such as the network device 110 shown in FIG1 , and the wireless communication system 100 may also include at least one terminal device, such as the terminal device 120 shown in FIG1 . For example, both the network device and the terminal device may be configured with multiple antennas, and the network device and the terminal device may communicate using multi-antenna technology.

[0077] When a network device communicates with a terminal device, the network device may manage one or more cells, and a cell may include at least one terminal device. Optionally, network device 110 and terminal device 120 form a single-cell communication system, assuming the cell is cell #1. Network device 110 may be a network device in cell #1, or network device 110 may serve a terminal device (e.g., terminal device 120) in cell #1.

[0078] It should be noted that a cell can be understood as an area within the coverage range of wireless signals of network equipment.

[0079] It should be understood that FIG1 is merely a simplified schematic diagram for ease of understanding, and the wireless communication system 100 may further include other network devices or other terminal devices, which are not shown in FIG1 .

[0080] With the increasing diversity of wireless communication application scenarios, wireless communication processes are embracing a wider range of new scenarios, including perception, imaging, and environmental reconstruction. This enables the implementation of Integrated Sensing and Communication (ISAC) in communication systems, enabling communication and perception functions to complement each other. On the one hand, the entire communication network can act as a massive sensor, leveraging the transmission, reflection, and scattering of radio waves to better perceive and understand the physical world. By extracting distance, velocity, and angle information from wireless signals, it can provide a wide range of new services, including high-precision positioning, gesture capture, motion recognition, passive object detection and tracking, imaging, and environmental reconstruction, realizing the "network as a sensor." On the other hand, the high-precision positioning, imaging, and environmental reconstruction capabilities provided by perception can improve communication performance, for example, through more accurate beamforming, faster recovery from beam failures, and lower overhead for tracking terminal channel state information (CSI), enabling "perception-assisted communication." Consequently, real-time network perception can replicate a parallel digital world for the physical world, which is crucial for the future realization of the concept of "digital twins."

[0081] In environmental reconstruction, multiple terminal devices can perceive the same environment from different perspectives. Therefore, the perception results of multiple terminal devices can be sent to the base station, which then fuses them into a complete, large-scale environmental map or performs other perception tasks based on the fused results, reducing power consumption and transmission overhead for each terminal device. Furthermore, since each terminal device can observe from a different perspective, fusing the perception results of multiple devices can address occlusion / blind spots caused by obstacles, resulting in more refined reconstruction or improved task execution.

[0082] It should be noted that, in addition to being applied in the communication field, environment reconstruction can also be applied in other fields, such as game modeling, electronic mapping, and other fields.

[0083] Currently, raw environmental information can be collected through methods such as optical scanning, LiDAR, simultaneous localization and mapping (SLAM), remote sensing, and light field reconstruction. This information can then be processed using various environmental reconstruction schemes. The resulting data formats vary after being processed by various algorithms. The following examples introduce common environmental reconstruction schemes: the Draco algorithm, the 3D Delaunay triangulation algorithm, the MPEG-GPCC scheme, and the MPEG-VPCC scheme.

[0084] The Draco algorithm uses KD-Tree to perform spatial segmentation and fast search of point cloud data, and the data exists in the format of leaf nodes of the tree;

[0085] The 3D Delaunay triangulation algorithm generates a constrained polyhedron model to represent different terrains, or the convex hull algorithm is used to extract the point cloud convex hull of the original point cloud data. The data exists in the format of a polyhedron.

[0086] The MPEG-GPCC solution considers a 3D data representation based on octree voxels. The space containing the 3D point cloud is divided into eight subspaces. For example, a subspace with a value of 1 indicates that it contains a point, and a value of 0 indicates that it does not. These eight indication values ​​are recorded. The subspace with a value of 1 in the first layer is then divided into eight subspaces again. The same method is used to record the eight indication values ​​of each subspace as the second layer. The subsequent layers are analogous to each other, and an octree representing the original point cloud is obtained.

[0087] The MPEG-VPCC solution projects the original 3D point cloud data onto six surrounding planes and uses the traditional H264 compression method to process the projected 2D data.

[0088] The above schemes and algorithms will generate different geometry types, and the data formats of different geometry types are also different. For different geometry types, there are usually settings for accuracy and resolution to ensure the accuracy of environment reconstruction. For example:

[0089] In the Draco algorithm, the density or quantization level of the point cloud determines the accuracy that the environment reconstruction can provide.

[0090] In the MPEG-GPCC scheme, the size of the octree voxel represents different spatial resolutions, and the attribute information can be adjusted by the quantization level.

[0091] The compression accuracy in the MPEG-VPCC scheme is adjusted by the quantization level;

[0092] In the scheme of using patches for environment reconstruction, more and smaller patches usually mean higher accuracy.

[0093] Currently, the aforementioned environmental reconstruction solutions are all targeted at a single geometry type. Furthermore, existing solutions only address the configuration of environmental reconstruction resolution, which is limited to a coarse, unified configuration and numerically quantized precision. This leads to the following problems:

[0094] (1) Lack of standards and universality. Different application scenarios and different tasks require different geometric types and resolutions of environment reconstruction, and there is a lack of universal definitions and solutions.

[0095] (2) Increase the pressure on air interface transmission. Different tasks and spaces require different data accuracy and resolution. Adopting a unified configuration will generate a huge amount of data on the end side, which will increase the pressure on air interface transmission during the data feedback and reporting stage.

[0096] (3) It is difficult to handle complex structures. When using a single geometric type to fit a complex geometric body, it may be necessary to introduce many parameters, which increases the computational complexity.

[0097] (4) Data storage problem: For the environmental reconstruction of large and complex scenes, if multiple environmental reconstruction schemes are adopted at the same time, complex data with different formats and large scale will be generated, which will bring huge challenges to data compression and storage.

[0098] (5) The ability to handle dynamic environments is poor. Solutions that use a single geometry type and a single resolution configuration will have difficulty adapting to rapidly changing environments.

[0099] To summarize, the embodiments of the present application provide a method for environmental reconstruction, define the basic elements that constitute the environmental map, and the basic elements can have different resolutions. The terminal device can collect, process and receive the basic elements according to different resolutions, which can enhance the flexibility of environmental reconstruction and reduce the amount of data transmission.

[0100] Base elements can be understood as the basic elements that make up an environment map. In other words, an environment map is composed of one or more base elements. Base elements can include geometric properties, which include a geometry type identifier and corresponding geometry representation parameters. The geometry representation parameters are used to indicate information such as the location and size of the geometry.

[0101] It is understandable that different types of geometric types correspond to different geometric type identifiers, and the geometric representation parameters of the same type of geometric types may be the same or different.

[0102] A base element can indicate its geometric type through geometric properties, including but not limited to: point, line, surface, voxel, sphere, and polyhedron. Lines can include straight lines and curves, and surfaces can include planes and curved surfaces.

[0103] For example, the environment map includes a high-rise building. When collecting information about the high-rise building, any of the above-mentioned geometric types can be used to represent the high-rise building.

[0104] Exemplarily, a point cloud is used to represent the high-rise building.

[0105] Exemplarily, a polyhedron is used to represent the high-rise building.

[0106] The following introduces the different geometric types mentioned above one by one.

[0107] Geometric properties of points

[0108] The geometry type identifier corresponding to the point can be identifier #1, and the geometry representation parameters of the point can be expressed in multiple ways.

[0109] For example, the geometric representation parameters of a point may use Cartesian coordinates (x, y, z) to represent the position of the point.

[0110] For example, the geometric representation parameters of a point can be expressed using polar coordinates. Indicates the location of a point.

[0111] For example, the geometric representation parameters of a point can use cylindrical coordinates Indicates the location of a point.

[0112] Geometric properties of a plane

[0113] The geometric type identifier corresponding to the plane can be identifier #2, and the geometric representation parameters of the plane can be expressed in multiple ways.

[0114] Exemplarily, the plane is a polygon, and the geometric representation parameters corresponding to the polygon may include the number of points, and the coordinates or index of each point.

[0115] For example, the plane can be defined by a function expression, for example, the plane can be represented by ax+by+cz+d=0. The range of the plane is limited, so the range of the plane also needs to be determined. The range of the plane can be a constraint (for example, x 2 +y 2 +z 2 ≤a), or it can be a numerical range of a variable (for example, x<a, y<b, z<c). The geometric representation parameters of a plane can include a, b, c, d and the plane range, where a, b, c can be called plane parameters.

[0116] Geometric properties of surfaces

[0117] The geometric type identifier corresponding to the surface can be identifier #3, and the geometric representation parameters of the surface can be expressed in multiple ways.

[0118] For example, the surface is defined by a surface function, for example, the surface can be defined by the ellipsoid equation: Similarly, the range of the surface can also be determined, which will not be described here for brevity. The geometric representation parameters of the surface may include a, b, c, and the surface range, where a, b, and c may be referred to as surface parameters.

[0119] For example, the surface may also be a p×q order B-spline surface. The geometric representation parameters of the surface may include the control point sequence P of the surface i,jOptionally, the geometric representation parameters of the surface may further include one or more of the following: node sequence, surface order.

[0120] Exemplarily, the surface can be a non-uniform rational B-spline (BURBS) surface, and the geometric representation parameters of the surface can include a control point sequence and a weight factor sequence of the surface. Optionally, the geometric representation parameters of the surface can also include one or more of the following: a node sequence and a surface order.

[0121] Geometric properties of straight lines

[0122] The geometric type identifier corresponding to the straight line may be identifier #4. The geometric representation parameters of the straight line may be expressed in a variety of ways.

[0123] Exemplarily, the geometric representation parameters of the straight line may be the coordinates of two points, and the coordinates of the two points may be represented by Cartesian coordinates, polar coordinates, or spherical coordinates.

[0124] Exemplarily, the geometric representation parameters of the straight line may be the coordinates of the starting point and the direction vector. The coordinates of the starting point may be expressed in Cartesian coordinates, polar coordinates, or spherical coordinates.

[0125] Geometric properties of curves

[0126] The geometry type identifier corresponding to the curve may be identifier #5. The geometric representation parameters of the curve may be expressed in a variety of ways.

[0127] For example, a curve can be defined by a function expression, for example, a curve can be defined by an ellipse equation Similarly, the range of a curve can be a constraint or the range of a variable. The geometric representation parameters of a curve can include a, b, c, and the curve range, where a, b, and c can be called curve parameters.

[0128] For example, the curve may be a P-order B-spline curve, and the geometric representation parameters of the curve may include a control point sequence P of the curve. i Optionally, the geometric representation parameters of the curve may further include one or more of the following: node sequence, curve order.

[0129] Polyhedrons may include prisms, pyramids, and cylinders. Pyramids include cones and pyramids. The geometric representations of different types of polyhedrons may be different.

[0130] Geometric properties of prisms

[0131] The geometric type identifier corresponding to the prism may be identifier #5, and the geometric representation parameters of the prism may be expressed in a variety of ways.

[0132] For example, a prism is composed of multiple points from different planes, and the geometric representation parameters of the prism may include the number of points, and the coordinates or index of each point.

[0133] For example, a prism can be determined by determining points on a plane and the height of the prism. The geometric representation parameters of the prism can include the number of points, the coordinates or index of each point, and the height of the prism. It is understood that in this case, the points in the geometric representation parameters are points on the same plane.

[0134] Geometric properties of a cylinder

[0135] The geometry type identifier corresponding to the cylinder may be identifier #6.

[0136] For example, the geometric representation parameters of the cylinder may include the coordinates or index of the center point, the radius, and the height. The center point may be the center point of the bottom surface of the cylinder.

[0137] Optionally, the geometric representation parameters of the cylinder may further include the direction of the cylinder.

[0138] Geometric properties of cones

[0139] The geometry type identifier corresponding to the cone may be identifier #7.

[0140] Exemplarily, the geometric representation parameters of the cone include the coordinates or index of the center point, the radius, and the height of the cone. The center point may be the center point of the base of the cone.

[0141] Alternatively, the height of the cone can be replaced by the coordinates or index of the cone's vertex.

[0142] Optionally, the geometric representation parameters of the cone may further include the direction of the cone.

[0143] Geometric properties of pyramids

[0144] The geometry type representation parameter corresponding to the pyramid may be identified by #8.

[0145] Exemplarily, the geometric representation parameters of the prism include the number of points on the bottom surface, the coordinates or index of each point, and the height of the pyramid.

[0146] Alternatively, the height of the pyramid can be replaced by the coordinates or indices of the vertices of the pyramid.

[0147] Geometric properties of a sphere

[0148] The geometry type identifier corresponding to the sphere may be identifier #9.

[0149] The geometric representation parameters of a sphere may include the coordinates or index of a center point and a radius. The center point of a sphere may also be called the center of the sphere.

[0150] Geometric properties of voxels

[0151] The geometric type identifier corresponding to the voxel may be identifier # 10. The geometric representation parameters of the voxel may be in various ways.

[0152] For example, the geometric representation parameters of a voxel include the size of the voxel space, the size of the voxel unit, and information about whether each voxel unit is empty. The voxel space can be understood as the space that accommodates the voxel units. The size of the voxel space is determined by the objects in the environment map.

[0153] For example, the geometric representation parameters of a voxel may include the number of voxel units in each direction of the voxel space, the size of the voxel unit, and information on whether each voxel unit is empty.

[0154] Optionally, the geometric representation parameters of the voxel may further include a starting point of the voxel space.

[0155] Geometric properties of N-ary trees

[0156] The geometry type corresponding to the N-ary tree is identified by identifier #11.

[0157] The geometric representation parameters of an N-ary tree can include the structural information of the tree. After traversing the tree horizontally (breadth-first) or vertically (depth-first), information about all nodes can be obtained, and this node information can be used to represent the structural information of the tree. For example, the specific bit string (hexadecimal) obtained after traversing the octree horizontally is {0x98, 0xff, 0xf, 0x88, 0xff, 0xaa, 0xff, 0xaa, 0xff, 0xaa, 0xff, 0xaa, 0xf, 0xf, 0xf, 0xff, 0xff}. The structural information of the tree can be directly represented by the bit string obtained after traversing the tree, or it can be represented by the bit string after entropy coding.

[0158] Optionally, the geometric representation parameters corresponding to the above-mentioned geometric types may further include geometric transformation parameters, which are parameters corresponding to geometric transformation. The geometric transformation in the embodiment of the present application includes but is not limited to translation, rotation and scaling.

[0159] Optionally, in addition to geometric properties, base elements can also include attribute properties. Attribute properties can be used to reflect the base element's physical properties, such as color, material, texture, dielectric constant, magnetic permeability, scattering coefficient, and mass. Attribute properties include attribute identifiers and attribute parameters, which can be represented using quantization bits.

[0160] In the embodiment of the present application, an environment map can be constructed using the above-mentioned base elements. When constructing the environment map, the resolution of the environment map can also be defined, and the resolution of the environment map can be used to characterize the accuracy of the environment map. When the resolution is high, the accuracy of the environment map is high, and when the resolution is low, the accuracy of the environment map is low. The resolution of the environment map in the embodiment of the present application includes the control parameter resolution of the base elements and the number resolution of the base elements. The control parameter resolution of the base elements is used to adjust the granularity of the base elements by changing the control parameters of the base elements, thereby adjusting the resolution of the environment map. The number resolution of the base elements is used to adjust the number of base elements in a unit volume, or the number of roots of the base elements in the environment map, thereby adjusting the resolution of the environment map.

[0161] The control parameters of the base element may or may not be part of the geometric representation parameters of the base element. By changing the control parameters of the base element, the fine-grainedness of the geometric type corresponding to the base element can be adjusted. Since the environment map is composed of base elements, the resolution of the environment map will also change when the resolution of the base element changes. Therefore, in the embodiment of the present application, the control parameters of the base element can be used to adjust the resolution of the environment map. The control parameters of the base element are introduced below.

[0162] Control parameters of the plane

[0163] When a plane is a polygon, combined with the above, the geometric representation parameters corresponding to the polygon can include the number of points and the coordinates or index of each point. It is not difficult to understand that when using polygons to represent objects in an environment map, the more sides a polygon has, the finer the object it represents. Therefore, the resolution of the environment map can be adjusted by adjusting the number of sides of the polygon. The number of sides of a polygon is determined by the number of points. Therefore, the control parameter of the plane can be the number of points, that is, the control parameter resolution of the plane can also be the number of points.

[0164] It can be understood that when polygons are used to represent objects in the environment map, and the higher the number of points, the higher the resolution of the polygons, and the higher the resolution of the environment map.

[0165] FIG2 shows a schematic diagram of adjusting control parameters of a polygon provided in an embodiment of the present application.

[0166] As shown in Figure 2, by changing the number of points from 5 to 7, the polygon's control parameter resolution is changed from 5 to 7, and the polygon can be transformed from a 5-sided polygon to a 7-sided polygon. Objects represented by 7-sided polygons will be more detailed. In other words, compared to using 5-sided polygons to represent objects, using 7-sided polygons can improve the resolution of the environment map.

[0167] Surface control parameters

[0168] The surface can be a p×q order B-spline surface The degree of surface fit can be changed by changing the number of control points m and n in different directions. Therefore, the number of control points m and n are the control parameters of the surface. The larger the m and n, the better the surface fit. In other words, the control parameter resolution of the surface can be the number of control points m and n.

[0169] It can be understood that when a curved surface is used to represent an object in an environment map, and the number of control points is higher, the resolution of the curved surface is higher, and the resolution of the environment map is also higher.

[0170] FIG3 shows a schematic diagram of adjusting control parameters of a curved surface provided in an embodiment of the present application.

[0171] As shown in FIG3 , when the number of control points m and n is increased (i.e., the star-shaped points in the figure), the granularity of the surface fitting can be improved, thereby improving the resolution of the environment map.

[0172] Control parameters of the curve

[0173] The curve can be a p-order B-spline curve Similar to the control parameters of a surface, the control parameters of a curve may be the number n of control points, that is, the control parameter resolution of the curve may be the number n of control points.

[0174] It can be understood that when a curve is used to represent an object in an environment map, and the number of control points is higher, the resolution of the curve is higher, and the resolution of the environment map is also higher.

[0175] Voxel control parameters

[0176] As mentioned above, the geometric representation parameters of voxels include the size of the voxel space, the size of the voxel unit, and information about whether each voxel unit is empty. It is not difficult to understand that when using voxels to represent objects in an environment map, the more voxel units there are, the finer the objects they represent. Therefore, the resolution of the environment map can be adjusted by adjusting the size of the voxel unit. Therefore, the control parameter of the voxel can be the size of the voxel unit, that is, the control parameter resolution of the voxel can be the size of the voxel unit.

[0177] FIG4 shows a schematic diagram of adjusting control parameters of a voxel provided in an embodiment of the present application.

[0178] As shown in FIG4 , the size of the voxel unit can be reduced (or increased), so that the rabbit represented by the voxels is more detailed, thereby improving the resolution of the environment map.

[0179] Control parameters of N-ary tree

[0180] The control parameter of the N-ary tree may be the depth of the N-ary tree. When the depth of the N-ary tree is higher, the resolution of the environment map is higher, that is, the resolution of the control parameter of the N-ary tree may be the depth of the N-ary tree.

[0181] The above describes the control parameter resolution of the basic elements. The following describes the number resolution of the basic elements.

[0182] In an embodiment of the present application, the resolution of the environment map can be adjusted by changing the number of basic elements of different geometric types, and the geometric type can be the geometric type mentioned above.

[0183] In some embodiments, the number resolution of primitive elements may be the number resolution of primitive elements within a unit volume.

[0184] In some embodiments, the unit volume may be determined based on objects in the environment map.

[0185] For example, if the number of surfaces within a unit volume is 5, the surface number resolution is 5; if the number of cylinders within a unit volume is 10, the cylinder number resolution is 10.

[0186] In some embodiments, the number resolution of primitives may be the number resolution of primitives within an environment map.

[0187] For example, if the number of surfaces in the environment map is 100, the surface resolution is 100.

[0188] It is not difficult to understand that when more geometric types are used to depict objects, the depicted objects will be more refined, that is, the resolution of the environment map will also be higher.

[0189] For example, if the environment map includes a high-rise building, you can use 100,000 points to represent the building, or you can use 1,000,000 points to represent the building. Using 1,000,000 points to represent the building can depict more details of the building, and the resolution of the environment map will be improved.

[0190] For another example, FIG5 shows a schematic diagram of adjusting the number of base elements provided in an embodiment of the present application.

[0191] As shown in Figure 5, an object can be represented using either one pyramid or two pyramids, meaning the resolution of the number of primitive elements is changed from 1 to 2. By increasing the resolution of the number of primitive elements per unit volume, environmental details can be better depicted.

[0192] For another example, FIG6 shows a schematic diagram of adjusting the number of basic elements provided in an embodiment of the present application.

[0193] As shown in Figure 6, an object can be represented using either a single prism or four pyramids, meaning the resolution of the number of primitives is changed from 1 to 4. By increasing the resolution of the number of primitives per unit volume, the structure of the reconstructed object can be effectively depicted (with certain gaps between the prisms).

[0194] Optionally, the resolution of the environment map also includes the resolution of the attribute parameters of the base element. The resolution of the attribute parameters can be represented by the number of quantization bits, and different numbers of quantization bits correspond to different resolutions.

[0195] For example, the color resolution may be 5 bits or 10 bits. Compared to a color resolution of 5 bits, when the color resolution is 10 bits, the objects depicted by the base elements have increased color details.

[0196] In the embodiment of the present application, the control parameter resolution of the base element and the attribute parameter resolution of the base element may be collectively referred to as the parameter resolution of the base element.

[0197] The above introduces the basic elements that constitute the environment map and the resolution of the environment map. The following will introduce the environment reconstruction method provided in the embodiment of the present application.

[0198] FIG7 shows a schematic flow chart of a method for environment reconstruction provided by an embodiment of the present application. As shown in FIG7 , the method includes:

[0199] S701: The second device sends indication information #1 to the first device.

[0200] Correspondingly, the first device receives indication information #1 sent by the second device, where the information #1 is used to indicate resolution information of the environment map.

[0201] In this application, the information indicated by the indication information is referred to as the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, where there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved with the help of the arrangement order of each information agreed in advance (such as specified in the protocol), thereby reducing the indication overhead to a certain extent.

[0202] In the embodiment of the present application, there is no limitation on the types of the first device and the second device. For example, the first device may be a terminal device, and the second device may be a base station.

[0203] Exemplarily, the first device may be a base station, and the second device may be a terminal device.

[0204] Exemplarily, the first device may be a base station, and the second device may be a base station.

[0205] Exemplarily, the first device may be a terminal device, and the second device may be a terminal device.

[0206] Optionally, in some embodiments, indication information #1 includes a control parameter resolution of the base element.

[0207] Optionally, in some embodiments, indication information #1 includes the number resolution of base elements.

[0208] Optionally, in some embodiments, indication information #1 includes an attribute parameter resolution of the base element.

[0209] Alternatively, in some embodiments, the first device may not obtain the first indication information through the second device.

[0210] Exemplarily, the indication information #1 is agreed upon through a protocol. In other words, the resolution information of the environment map can be agreed upon in the protocol.

[0211] Exemplarily, the indication information #1 may be preset in the first device.

[0212] In the embodiment of the present application, the network device can indicate the resolution of the environment map through a variety of indication methods. The embodiment of the present application does not specifically limit this. Several methods are introduced as examples below.

[0213] In one possible implementation, the first device includes indication information #2, which is used to indicate the correspondence between the base element and the resolution. The indication information #1 is the index of the correspondence, and the indication information #1 can be represented by an index value, enumeration, bitmap, etc.

[0214] For example, the corresponding relationship can be represented using a resolution indication table, and the indication information #1 is an index into the resolution indication table, so that the first device can determine the corresponding resolution based on the indication information #1. The resolution can be a threshold or a true value. A description of true values ​​and thresholds is provided below.

[0215] Exemplarily, the resolution indication table may be configured by the second device. For example, the second device sends the resolution indication table via radio resource control (RRC) signaling, media access control (MAC) signaling, and PDCCH signaling.

[0216] For example, the resolution indication table may be predetermined by a protocol.

[0217] Exemplarily, the resolution indication table may be preset in the first device.

[0218] For example, Table 1 shows a surface resolution indication table. As shown in Table 1, the resolution indication table includes an index and the number of control points of the surface. When the first device determines that the index is "0" based on indication information #1, the first device can determine that the number of control points of the surface is 5 based on the index value and the resolution indication table. Therefore, when the first device generates or receives the surface, the number of control points of the surface is 5, or the number of control points of the surface cannot exceed 5.

[0219] Table 1: Resolution indication table for a curved surface

[0220] For another example, Table 2 shows another surface resolution indication table. As shown in Table 2, the resolution indication table includes an index and the number of surfaces within a unit volume. When the first device determines that the index is "0" based on indication information #1, the first device can determine, based on the index and the resolution indication table, that the number of surfaces to be generated or received is 10, or that the number of surfaces cannot exceed 10.

[0221] Table 2: Resolution indication table for a curved surface

[0222] For another example, Table 3 shows another surface resolution indication table. As shown in Table 3, the resolution indication table includes an index, the number of surface control points, and the number of surfaces within a unit volume. When the first device determines, based on indication information #1, that the index is "0," the first device can determine, based on the index and the resolution indication table, that the number of control points for the generated or received surface is 5 and the number of surfaces is 10, or that the number of control points for the surface cannot exceed 5 and the number of surfaces cannot exceed 10.

[0223] Table 3: Resolution indication table for a curved surface

[0224] The indication information #1 may indicate the resolution of the environment map in the above manner or in a manner other than the above manner. The resolution of the environment map may be a threshold value or a true value.

[0225] Optionally, in some embodiments, the indication information #1 may include a threshold corresponding to the control parameter resolution of the base element.

[0226] For example, the threshold of control points of a surface can be set to 20, and the threshold of control points of a curve can be set to 4. Then, when the first device generates or receives a surface and a curve, the control points corresponding to the surface and the curve cannot exceed 20 and 4 respectively.

[0227] Optionally, in some embodiments, indication information #1 may include a threshold corresponding to the resolution of the number of basic elements.

[0228] For example, the threshold value of the number of cylinders may be set to 4, and the threshold value of the number of curved surfaces may be set to 10. Then, when the first device generates or receives cylinders and curved surfaces, the number of cylinders and curved surfaces cannot exceed 4 and 10, respectively.

[0229] Optionally, in some embodiments, the indication information #1 may include a threshold corresponding to the attribute parameter resolution of the base element.

[0230] For example, the color resolution threshold of the curved surface may be set to 10 bits. Then, when the first device generates or receives the curved surface, the color resolution of the curved surface cannot exceed 10 bits.

[0231] Optionally, in some embodiments, the indication information #1 may include a true value corresponding to the control parameter resolution of the base element.

[0232] For example, the true value of the control point of the surface can be set to 20, and the true value of the control point of the curve can be set to 4. Then, when the first device generates or receives the surface and curve, the control points corresponding to the surface and curve are 20 and 4 respectively.

[0233] Optionally, in some embodiments, the indication information #1 may include a true value corresponding to the resolution of the number of basis elements.

[0234] For example, the true value of the number of cylinders can be set to 4, and the true value of the number of surfaces can be set to 10. Then, when the terminal device generates or receives cylinders and surfaces, the number of cylinders and surfaces is 4 and 10 respectively.

[0235] Optionally, in some embodiments, the indication information #1 may include a true value corresponding to the attribute resolution of the base element.

[0236] For example, the true value of the color resolution of the surface may be set to 10 bits. Then, when the first device generates or receives the surface, the color resolution of the surface is 10 bits.

[0237] S702: The first device controls the resolution of the base element according to the indication information #1.

[0238] The first device receives the indication information #1 and can control the resolution of the base element according to the indication information #1.

[0239] In some embodiments, the first device may control the parameter resolution of the base element according to the indication information #1.

[0240] For example, the first device may control the control parameter resolution of the curve, that is, the number of control points of the curve, according to the indication information #1.

[0241] For another example, the first device may control the resolution of the attribute parameters of the curve according to the indication information #1.

[0242] In some embodiments, the first device may control the number and resolution of the base elements according to the indication information #1.

[0243] For example, the first device may control the number of cylinders within a unit volume according to indication information #1.

[0244] For another example, the first device may control the number of cylinders in the environment map according to the indication information #1.

[0245] The resolution of the first device control base element can include the following situations:

[0246] In one possible scenario, the first device controls the resolution of the base element when sending the environment map.

[0247] For example, indication information #1 indicates that the control parameter resolution of the curve is 4, that is, the number of control points of the curve is 4. Then, when the first device perceives the environment map, the number of control points of the curve will not be greater than 4.

[0248] For another example, indication information #1 indicates that the resolution of the number of cylinders is 10. Then, when the first device perceives the environment map, the number of cylinders in the unit volume is not greater than 10, or the number of cylinders in the environment map is not greater than 10.

[0249] For another example, indication information #1 indicates that the control parameter resolution of the curve is 4, the resolution of the number of curves is 10, and the resolution of the number of cylinders is 10. Then, when the first device perceives the environmental map, the number of control points of the curve will not be greater than 4, the number of curves within the unit volume will not be greater than 10, or the number of curves in the environmental map will not be greater than 10, and the number of cylinders within the unit volume will not be greater than 10, or the number of cylinders in the environmental map will not be greater than 10.

[0250] In one possible scenario, the first device controls the resolution of the base element when receiving the environment map.

[0251] For example, if indication information #1 indicates that the control parameter resolution of the curve is 4, and the control parameter resolution of the curve in the environmental map received by the first device is 10, the first device can downsample the environmental map and perform other processing so that the control parameter resolution of the curve in the environmental map becomes 4.

[0252] In the embodiments of the present application, the environment map can be constructed from primitive elements. The first device can determine the resolution of the environment map and, in turn, control the resolution of the primitive elements, thereby enhancing the flexibility of environment reconstruction. Furthermore, the use of multiple primitive elements allows for processing complex structures within the environment map without introducing excessive parameters, thereby reducing computational complexity.

[0253] Optionally, in some embodiments, the method further comprises:

[0254] The first device sends a first environment map to the second device.

[0255] Specifically, after determining the resolution of the base element according to the indication information #1, the first device can sense the environment in which it is located and send a first environment map to the second device, where the first environment map is associated with the environment in which the first device is located.

[0256] It can be understood that the resolution of the first environment map is associated with the resolution information indicated by the first indication information.

[0257] For example, if the indication information #1 indicates that the control parameter resolution of the curve is 4, then the number of control points of the curve of the first environment map will not be greater than 4.

[0258] Optionally, in some embodiments, the method further comprises:

[0259] The first device receives the first environment map sent by the second device.

[0260] Specifically, after the first device determines the resolution of the base element according to the indication information #1, when receiving the first environment map, the resolution of the first environment map may be controlled according to the indication information #1.

[0261] For example, if the indication information #1 indicates that the control parameter resolution of the curve is 4 and the control parameter resolution of the curve in the first environment map is 10, then the control parameter resolution of the curve in the first environment map may be controlled to be 4.

[0262] Alternatively, in some embodiments, the second device may also send the environment map and the resolution information corresponding to the environment map to the first device before the first device obtains the first indication information. After the first device determines the resolution information of the environment map sent by the second device, it can adjust the resolution.

[0263] For example, the second device sends an environmental map and resolution information corresponding to the environmental map to the first device. The resolution information includes that the control parameter resolution of the curve is 10. Before the first device receives the above information, the control parameter of the curve controlled in the first device is 4. If the first device supports this resolution, the first device can adjust the control parameter resolution of the curve to 10.

[0264] For another example, the second device sends an environmental map and resolution information corresponding to the environmental map to the first device. The resolution information includes that the control parameter resolution of the curve is 10. Before the first device receives the above information, the control parameter resolution of the curve controlled by the first device is 4. If the first device supports a maximum curve control parameter resolution of 8, the first device can maintain the curve control parameter resolution at 4, or adjust the curve control parameter resolution to 8.

[0265] For another example, the second device sends an environmental map and resolution information corresponding to the environmental map to the first device. The resolution information includes that the control parameter resolution of the curve is 10. Before the first device receives the above information, the control parameter resolution of the curve controlled by the first device is 20. The first device can maintain the curve control parameter resolution at 4, or adjust the curve control parameter resolution to 10.

[0266] Optionally, in some embodiments, the method further comprises:

[0267] The first device sends resolution information corresponding to the first environment map to the second device.

[0268] Specifically, when the first device sends the first environment map to the second device, it may also send resolution information corresponding to the first environment map.

[0269] In a possible implementation, each base element corresponds to a resolution information separately.

[0270] For example, as shown in Figure 8, when the terminal device sends the resolution information of the first environment map to the network device, the resolution information corresponding to each base element of the first environment map may include: {geometry type identifier, geometry representation parameter, resolution identifier}, and the resolution identifier includes {base element control parameter resolution}.

[0271] Optionally, the resolution identifier may further include an attribute parameter resolution.

[0272] Optionally, the resolution information corresponding to each basic element of the first environment map may further include attribute features.

[0273] In a possible implementation, the same base element corresponds to one piece of resolution information.

[0274] For example, as shown in Figure 9, when the terminal device sends the resolution information of the first environment map to the network device, the same base element can correspond to one resolution information, and the resolution information includes: {resolution identifier, number of map base elements N, map base element, map base element 2,..., map base element N}, where the resolution identifier can include {base element control parameter resolution, number of base elements within unit volume resolution}, and each map base element can include: {geometry type identifier, geometry representation parameter}.

[0275] Optionally, the resolution identifier may further include an attribute parameter resolution.

[0276] Optionally, each base element may also include attribute features.

[0277] Optionally, in some embodiments, the indication information #1 includes multiple resolution information, each of the multiple resolution information corresponds to a different area of ​​the environment map and / or corresponds to a different perception task.

[0278] In the embodiment of the present application, the environment map can be divided into multiple areas, each of which corresponds to different resolution information. In other words, the resolutions of different areas of the environment map can be different, and the resolution of the same area can be the same.

[0279] For example, as shown in FIG10 , the rabbit model is divided into three regions, namely region #1, region #2, and region #3, wherein the size of the voxel unit in region #1 is larger than the size of the voxel unit in region #2, the size of the voxel unit in region #2 is larger than the size of the voxel unit in region #3, and the sizes of the voxel units in region #1, the sizes of the voxel units in region #2, and the sizes of the voxel units in region #3 are the same.

[0280] In the implementation of this application, different areas of the environment map can be determined according to various implementation methods. The embodiments of this application are not limited to this. Several methods are introduced as examples below.

[0281] One possible implementation method is to establish a coordinate system and define different regions by using different coordinate values. The coordinate system can be a Cartesian coordinate system, a polar coordinate system, a spherical coordinate system, etc.

[0282] In one possible implementation, the environment map can be divided into multiple grids, and different areas can be distinguished by different grid units.

[0283] One possible implementation is to distinguish different areas through different nodes of an N-ary tree (such as an octree).

[0284] In the embodiment of the present application, different perception tasks may correspond to different resolution information. In other words, different resolutions of the basic elements of the perception environment map may be used for different perception tasks.

[0285] For example, when the perception task is to perceive buildings, the first device uses a higher resolution when using planes, curved surfaces, and polyhedrons, and uses a lower resolution when using points and voxels.

[0286] For example, the perception task is to reconstruct the intelligent driving environment. For intersections and sidewalks, higher-resolution base elements are used to represent the surrounding objects, while for highways, lower-resolution base elements are used to represent the surrounding objects.

[0287] In the embodiment of the present application, the resolution of different areas of the environment map in different perception tasks may correspond to different resolution information. In other words, the resolution of different areas of the environment map in different perception tasks may be different, and the resolution of the same area may be the same.

[0288] For example, the perception task is to reconstruct the environment by multiple devices. The first device uses a higher-resolution base element to represent objects that are closer, and uses a lower-resolution base element to represent objects that are farther away.

[0289] For example, when the perception task is to reconstruct the intelligent driving environment, the first device uses higher-resolution base elements to represent pedestrians, vehicles, and lane lines, and uses lower-resolution base elements to represent surrounding trees and buildings.

[0290] For example, when the perception task is to reconstruct an urban environment, higher-resolution primitives are used to represent the more complex central area, while lower-resolution primitives are used to represent the simpler suburban environment.

[0291] The correspondence between each of the multiple resolution information and different areas of the environmental map in the embodiment of the present application, as well as the correspondence between each of the multiple resolution information and different perception tasks, and the correspondence between each of the multiple resolution information and different areas of the environmental map for different perception tasks can be indicated in a variety of ways. The following is an illustrative introduction to several possible implementation methods.

[0292] A possible implementation method is to indicate the correspondence between different areas of the environment map and resolutions, or indicate the correspondence between different perception tasks and resolutions through signaling or table mapping, which can be indicated by enumeration, bitmap, etc.

[0293] For example, indication information #1 may include multiple pieces of the following information: {space identifier, geometry type {surface, cylinder...}, resolution indication {control parameter resolution of the surface, resolution of the number of basic elements per unit volume of the cylinder...}}.

[0294] For another example, indication information #1 may include multiple pieces of the following information: {task identifier, geometry type {surface, cylinder...}, resolution indication {control parameter resolution of the surface, resolution of the number of basic elements per unit volume of the cylinder...}}.

[0295] For another example, indication information #1 may include multiple of the following information: {task identifier, geometry type {surface, cylinder...}, resolution indication {control parameter resolution of the surface, resolution of the number of basic elements per unit volume of the cylinder...}} and {space identifier, geometry type {surface, cylinder...}, resolution indication {control parameter resolution of the surface, resolution of the number of basic elements per unit volume of the cylinder...}}.

[0296] For another example, indication information #1 may include multiple of the following information: {{task identifier 1, geometry type {surface, cylinder...}, resolution indication {control parameter resolution of the surface, resolution of the number of basic elements per unit volume of the cylinder...}, {task identifier 2, geometry type {surface, cylinder...}, resolution indication {control parameter resolution of the surface, resolution of the number of basic elements per unit volume of the cylinder...}, {space identifier 1, geometry type {surface, cylinder...}, resolution indication {control parameter resolution of the surface, resolution of the number of basic elements per unit volume of the cylinder...}, {space identifier 2, geometry type {surface, cylinder...}, resolution indication {control parameter resolution of the surface, resolution of the number of basic elements per unit volume of the cylinder...}}.

[0297] A possible implementation method is to establish a correspondence between time-frequency resources and different areas and / or perception tasks of the environmental map, and the indication information #1 can be sent or received on a specific time-frequency resource, and then the resolution corresponding to different areas and / or perception tasks of the environmental map can be determined based on the correspondence between the indication information #1 and the time-frequency resources.

[0298] For example, time-frequency resource #1 corresponds to perception task #1. The first device sends indication information #1 on time-frequency resource #1. After receiving the indication information #1, the first device can determine the corresponding perception task #1 based on the time-frequency resource #1, so that the corresponding resolution can be adopted when executing perception task #1.

[0299] In an embodiment of the present application, different areas of the environmental map and / or different perception tasks may correspond to different resolutions. The first device may adopt different resolutions for perception of different areas of the environmental map and / or different perception tasks, thereby enhancing the flexibility of environmental reconstruction.

[0300] Optionally, in some embodiments, the method further comprises:

[0301] The first device sends perception capability indication information to the second device, and the second device determines indication information #1 according to the perception capability indication information.

[0302] Specifically, the first device may report the resolution of the environment map supported by the first device to the second device, so that the second device may indicate the resolution of the environment map according to the capability reported by the first device.

[0303] In an embodiment of the present application, the second device can determine the resolution of the environment map based on the perception capability reported by the first device, so that different environment map resolutions can be determined for different devices, which can improve the flexibility of environment reconstruction.

[0304] It can be understood that some optional features in the various embodiments of the present application may not depend on other features in certain scenarios, and may also be combined with other features in certain scenarios, without limitation.

[0305] It can also be understood that the solutions in the various embodiments of the present application can be reasonably combined and used, and the explanations or descriptions of the various terms appearing in the embodiments can be referenced or explained with each other in the various embodiments, without limitation to this.

[0306] It can also be understood that in the above-mentioned method embodiments, the methods and operations implemented by the first device can also be implemented by components that can be implemented by the first device (such as chips or circuits); in addition, the methods and operations implemented by the second device can also be implemented by components that can be implemented by the second device (such as chips or circuits), without limitation.

[0307] Corresponding to the methods provided in the above method embodiments, embodiments of the present application also provide corresponding apparatuses, which include modules for executing the corresponding methods in the above method embodiments. The modules may be software, hardware, or a combination of software and hardware. It is understood that the technical features described in the above method embodiments are also applicable to the following apparatus embodiments.

[0308] Referring to Figure 11 , as an example, Figure 11 is a schematic diagram of a communication device 1100 provided in an embodiment of the present application. Device 1100 includes an acquisition unit 1110 and a processing unit 1120. Acquisition unit 1110 can be used to implement corresponding communication functions. Acquisition unit 1110 can also be referred to as a communication interface or communication unit. Processing unit 1120 can be used to process data or information.

[0309] Optionally, the device 1100 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 1120 can read the instructions and / or data in the storage unit so that the device implements the aforementioned various method embodiments.

[0310] In one possible design, the device 1100 can be used to execute the actions performed by the first device in each of the above method embodiments. In this case, the device 1100 can be the first device or a component of the first device, the transceiver unit 1110 is used to execute the transceiver-related operations on the first device side in the above method embodiments, and the processing unit 1120 is used to execute the processing-related operations on the first device side in the above method embodiments.

[0311] In a possible implementation, the transceiver unit 1110 is used to obtain first indication information, where the first indication information is used to indicate resolution information of an environment map, where the environment map is composed of basic elements; and the processing unit 1120 is used to control the resolution of the basic elements according to the first indication information.

[0312] Optionally, the processing unit 1120 is specifically configured to control parameter resolution and / or number resolution of the base element of the first indication information.

[0313] Optionally, the type of the base element includes a geometric type and / or an attribute type, the geometric type includes at least one of the following: point, line, curve, plane, surface, voxel, sphere, prism, cylinder, cone, octree, and the attribute type includes at least one of the following: material, texture, color, magnetic permeability, dielectric constant, scattering coefficient, and mass.

[0314] Optionally, the first indication information includes a control parameter resolution and / or number resolution of the base element.

[0315] Optionally, the first indication information includes attribute parameter resolution.

[0316] Optionally, the transceiver unit 1110 is further used to obtain second indication information, where the second indication information is used to indicate the correspondence between the base element and the resolution, wherein the first indication information is an index of the correspondence.

[0317] Optionally, the transceiver unit 1110 is further configured to send and / or receive a first environment map.

[0318] Optionally, the transceiver unit 1110 is further configured for the first device to send and / or receive resolution information corresponding to the first environment map.

[0319] Optionally, the first indication information includes multiple resolution information, and each resolution information in the multiple resolution information corresponds to a different area of ​​the environment map and / or corresponds to a different perception task.

[0320] Optionally, the correspondence between each of the multiple resolution information and different areas of the environment map is indicated by area identifiers of different areas, or the correspondence between each of the multiple resolution information and different perception tasks is indicated by identifiers of different perception tasks, or by different time-frequency resources.

[0321] Optionally, the transceiver unit 1110 is further configured to send perception capability information.

[0322] Another possible design is that the device 1100 can be used to execute the actions performed by the second device in the above method embodiments. In this case, the device 1100 can be the second device or a component of the second device, the transceiver unit 1110 is used to execute the transceiver-related operations on the second device side in the above method embodiments, and the processing unit 1120 is used to execute the processing-related operations on the second device side in the above method embodiments.

[0323] In a possible implementation, the transceiver unit 1110 is configured to send first indication information, where the first indication information is used to indicate resolution information of an environment map, where the environment map is composed of basic elements.

[0324] Optionally, the type of the base element includes a geometric type and / or an attribute type, the geometric type includes at least one of the following: point, line, curve, plane, surface, voxel, sphere, prism, cylinder, cone, octree, and the attribute type includes at least one of the following: material, texture, color, magnetic permeability, dielectric constant, scattering coefficient, and mass.

[0325] Optionally, the first indication information includes a control parameter resolution and / or number resolution of the base element.

[0326] Optionally, the first indication information includes attribute parameter resolution.

[0327] Optionally, the transceiver unit 1110 is further used to send second indication information, where the second indication information is used to indicate the correspondence between the base element and the resolution, wherein the first indication information is an index of the correspondence.

[0328] Optionally, the transceiver unit 1110 is further configured to send and / or receive a first environment map.

[0329] Optionally, the transceiver unit 1110 is further configured to send and / or receive resolution information corresponding to the first environment map.

[0330] Optionally, the first indication information includes multiple resolution information, and each resolution information in the multiple resolution information corresponds to a different area of ​​the environment map and / or corresponds to a different perception task.

[0331] Optionally, the correspondence between each resolution information in the multiple resolution information and different areas of the environment map is indicated by area identifiers of different areas, or by different time-frequency resources; the correspondence between each resolution information in the multiple resolution information and different perception tasks is indicated by identifiers of different perception tasks, or by different time-frequency resources.

[0332] Optionally, the transceiver unit 1110 is further configured to receive perception capability information.

[0333] The processing unit 1120 is configured to determine first indication information according to the perception capability information.

[0334] It should be understood that the device 1100 here is embodied in the form of a functional unit. The term "unit" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and a memory for executing at least one software or firmware program, a combined logic circuit and / or other suitable components that support the described functions. In an optional example, those skilled in the art will understand that the device 1100 can be specifically the first device in the above-mentioned embodiment, which can be used to execute the various processes and / or steps corresponding to the first device in the above-mentioned method embodiments; or, the device 1100 can be specifically the second device in the above-mentioned embodiment, which can be used to execute the various processes and / or steps corresponding to the second device in the above-mentioned method embodiments. To avoid repetition, it will not be described here.

[0335] The apparatus 1100 of each of the above-mentioned solutions has the function of implementing the corresponding steps performed by the communication device (such as a terminal device or a network device) in the above-mentioned method. The functions can be implemented by hardware, or the corresponding software can be implemented by hardware. The hardware or software includes at least one module corresponding to the above-mentioned functions; for example, the transceiver unit can be replaced by a transceiver (for example, the sending unit in the transceiver unit can be replaced by a transmitter, and the receiving unit in the transceiver unit can be replaced by a receiver), and other units, such as the processing unit, can be replaced by a processor to respectively perform the sending and receiving operations and related processing operations in each method embodiment.

[0336] In addition, the transceiver unit 1110 may also be a transceiver circuit (for example, may include a receiving circuit and a transmitting circuit), and the processing unit 1120 may be a processing circuit.

[0337] It should be noted that the apparatus in FIG11 may be the device in the aforementioned embodiment, or may be a chip or chip system, such as a system on chip (SoC). The transceiver unit may be an input / output circuit or a communication interface; the processing unit may be a processor, microprocessor, or integrated circuit integrated on the chip. This is not limited here.

[0338] Referring to Figure 12 , as an example, Figure 12 is a schematic diagram of another communication device 1200 provided in an embodiment of the present application. Device 1200 includes a processor 1210, which is coupled to a memory 1220. Optionally, device 1200 also includes memory 1220. Memory 1220 is configured to store computer programs or instructions and / or data. Processor 1210 is configured to execute the computer programs or instructions stored in memory 1220, or read data stored in memory 1220, to perform the methods described in the above method embodiments.

[0339] Optionally, there is at least one processor 1210.

[0340] Optionally, there is at least one memory 1220.

[0341] Optionally, the memory 1220 is integrated with the processor 1210 or provided separately.

[0342] Optionally, as shown in Figure 12, the apparatus 1200 further includes a transceiver 1230, which is configured to receive and / or transmit signals. For example, the processor 1210 is configured to control the transceiver 1230 to receive and / or transmit signals.

[0343] As a solution, the apparatus 1200 is used to implement the operations performed by the first device in each of the above method embodiments.

[0344] For example, the processor 1210 is configured to execute computer programs or instructions stored in the memory 1220 to implement relevant operations of the first device in each of the above method embodiments.

[0345] As another solution, the apparatus 1200 is used to implement the operations performed by the second device in each of the above method embodiments.

[0346] For example, the processor 1210 is configured to execute computer programs or instructions stored in the memory 1220 to implement related operations of the second device in each of the above method embodiments.

[0347] It should be understood that the processor mentioned in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0348] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0349] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0350] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0351] 13 , as an example, is a schematic diagram of a chip system 1300 provided in accordance with an embodiment of the present application. The chip system 1300 (or also referred to as a processing system) includes a logic circuit 1310 and an input / output interface 130 .

[0352] Logic circuit 1310 may be a processing circuit within chip system 1300. Logic circuit 1310 may be coupled to a storage unit and invoke instructions within the storage unit, enabling chip system 1300 to implement the methods and functions of various embodiments of the present application. Input / output interface 1320 may be an input / output circuit within chip system 1300, outputting information processed by chip system 1300 or inputting data or signaling information to be processed into chip system 1300 for processing.

[0353] Specifically, for example, if the chip system 1300 is installed in a terminal device, the logic circuit 1310 is coupled to the input / output interface 1320 , and the input / output interface 1320 can input the wake-up signal to the logic circuit 1310 for processing.

[0354] As a solution, the chip system 1300 is used to implement the operations performed by the first device in each of the above method embodiments.

[0355] For example, the logic circuit 1310 is used to implement the processing-related operations performed by the first device in the above method embodiment; the input / output interface 1320 is used to implement the sending and / or receiving-related operations performed by the first device in the above method embodiment.

[0356] As another solution, the chip system 1300 is used to implement the operations performed by the second device in each of the above method embodiments.

[0357] For example, the logic circuit 1310 is used to implement the processing-related operations performed by the second device in the above method embodiment; the input / output interface 1320 is used to implement the sending and / or receiving-related operations performed by the second device in the above method embodiment.

[0358] An embodiment of the present application further provides a computer-readable storage medium on which computer instructions for implementing the methods executed by the device in the above-mentioned method embodiments are stored.

[0359] For example, when the computer program is executed by a computer, the computer can implement the method executed by the terminal device in each embodiment of the above method.

[0360] For another example, when the computer program is executed by a computer, the computer can implement the methods performed by the network device in each embodiment of the above method.

[0361] An embodiment of the present application also provides a computer program product, comprising instructions, which, when executed by a computer, implement the methods performed by a terminal device or a network device in the above-mentioned method embodiments.

[0362] An embodiment of the present application also provides a communication system, which includes the terminal device and network device in the above embodiments.

[0363] The explanation of the relevant contents and beneficial effects of any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, which will not be repeated here.

[0364] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as at least two units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0365] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes at least one computer instruction. When the computer program instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. For example, the computer can be a personal computer, a server, or a network device, etc. The computer instruction can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instruction can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes at least one available medium integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)). For example, the aforementioned available medium includes, but is not limited to, various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0366] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for environmental reconstruction, characterized in that: The method comprises: The first device acquires first indication information, where the first indication information is used to indicate resolution information of an environment map, where the environment map is composed of basic elements; The first device controls the resolution of the base element according to the first indication information.

2. The method according to claim 1, characterized in that The first device controls the resolution of the base element according to the first indication information, including: The first device controls the parameter resolution and / or number resolution of the basic element according to the first indication information.

3. The method according to claim 1 or 2, characterized in that: The type of the basic element includes a geometric type and / or an attribute type, the geometric type includes at least one of the following: point, line, curve, plane, surface, voxel, sphere, prism, cylinder, cone, octree, the attribute type includes at least one of the following: material, texture, color, magnetic permeability, dielectric constant, scattering coefficient, mass.

4. The method according to any one of claims 1 to 3, characterized in that The first indication information includes a control parameter resolution and / or a number resolution of the base element.

5. The method according to any one of claims 1 to 4, characterized in that The first indication information includes attribute parameter resolution.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: The first device obtains second indication information, where the second indication information is used to indicate a correspondence between the base element and the resolution, wherein the first indication information is an index of the correspondence.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: The first device sends and / or receives a first environment map according to the first indication information.

8. The method according to claim 7, characterized in that The method further comprises: The first device sends and / or receives resolution information corresponding to the first environment map.

9. The method according to any one of claims 1 to 8, characterized in that The first indication information includes multiple resolution information, and each resolution information of the multiple resolution information corresponds to a different area of ​​the environment map and / or corresponds to a different perception task.

10. The method according to claim 9, characterized in that The correspondence between each of the plurality of resolution information and a different area of ​​the environment map is indicated by an area identifier of the different area, or by different time-frequency resources; The correspondence between each piece of resolution information among the multiple pieces of resolution information and a different perception task is indicated by an identifier of the different perception task, or by the different time-frequency resources.

11. The method according to any one of claims 1 to 10, characterized in that The first indication information is received from the second device, or is agreed upon by a protocol, or is preset in the first device.

12. The method according to claim 11, characterized in that The first indication information is received from a second device, and the method further includes: The first device sends perception capability information to the second device, so that the second device determines the first indication information according to the perception capability information.

13. A method for environmental reconstruction, characterized in that: The method comprises: The second device sends first indication information to the first device, where the first indication information is used to indicate resolution information of an environment map, where the environment map is composed of basic elements, so that the first device controls the resolution of the basic elements according to the first indication information.

14. The method according to claim 13, characterized in that The type of the basic element includes a geometric type and / or an attribute type, the geometric type includes at least one of the following: point, line, curve, plane, surface, voxel, sphere, prism, cylinder, cone, octree, the attribute type includes at least one of the following: material, texture, color, magnetic permeability, dielectric constant, scattering coefficient, mass.

15. The method according to claim 13 or 14, characterized in that The first indication information includes a control parameter resolution and / or a number resolution of the base element.

16. The method according to any one of claims 13 to 15, characterized in that The first indication information includes attribute parameter resolution.

17. The method according to any one of claims 13 to 16, characterized in that The method further comprises: The second device sends second indication information to the first device, where the second indication information is used to indicate a correspondence between the base element and the resolution, wherein the first indication information is an index of the correspondence.

18. The method according to any one of claims 13 to 17, characterized in that The method further comprises: The second device sends and / or receives a first environment map.

19. The method according to claim 18, characterized in that The method further comprises: The second device sends and / or receives resolution information corresponding to the first environment map.

20. The method according to any one of claims 13 to 19, characterized in that The first indication information includes multiple resolution information, and each resolution information of the multiple resolution information corresponds to a different area of ​​the environment map and / or corresponds to a different perception task.

21. The method according to claim 20, characterized in that The correspondence between each of the plurality of resolution information and a different area of ​​the environment map is indicated by an area identifier of the different area, or by different time-frequency resources; The correspondence between each piece of resolution information among the multiple pieces of resolution information and a different perception task is indicated by an identifier of the different perception task, or by the different time-frequency resources.

22. The method according to any one of claims 13 to 21, characterized in that The method further comprises: Receiving the sensing capability information sent by the first device; The first indication information is determined according to the perception capability information.

23. A communication device, characterized in that: The method comprises modules or units for executing the method according to any one of claims 1 to 22.

24. A communication device, characterized in that: The device comprises a processor, wherein the processor is configured to execute a computer program or instruction stored in a memory so that the device performs the method according to any one of claims 1 to 22.

25. The device according to claim 24, characterized in that The device further comprises the memory and / or the communication interface, wherein the communication interface is coupled to the processor. The communication interface is used to input and / or output information.

26. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program or instruction, and when the computer program or instruction is executed on a communication device, the communication device is caused to perform the method according to any one of claims 1 to 22.

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