A communication method and apparatus

Abstract

A communication method and apparatus are disclosed to improve the accuracy of point cloud data generated by a base station. The communication method includes: the base station sensing a target object to obtain original point cloud data of the target object; the base station generating residual point cloud data of the target object based on the original point cloud data; the residual point cloud data being the portion of the target object not fully sensed by the base station, and the original point cloud data not including the residual point cloud data; and the base station transmitting the residual point cloud data to a target device.

Description

Technical Field

[0001] This application relates to the field of mobile communication technology, and in particular to a communication method and apparatus. Background Technology

[0002] In integrated communication and sensing scenarios, base stations obtain point cloud data by sensing target objects to characterize their geometric features, and then send this point cloud data to the target device. However, due to limitations in the location distribution of base stations, they may not be able to completely cover the target object, resulting in sensing blind spots and consequently, missing point cloud data.

[0003] Improving the accuracy of point cloud data generated by base stations is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a communication method and apparatus for improving the accuracy of point cloud data generated by a base station.

[0005] Firstly, this application provides a communication method that can be applied to a base station, or components within the base station (such as processors, chips, chip systems, circuits, functional modules, or others), or software modules. The method may include: the base station sensing a target object to obtain original point cloud data of the target object; the base station generating residual point cloud data of the target object based on the original point cloud data; the residual point cloud data represents the portion of the target object that was not fully sensed by the base station, and the original point cloud data does not include the residual point cloud data; and the base station transmitting the residual point cloud data to the target device.

[0006] Using this method, the base station can generate incomplete point cloud data based on the original point cloud data, thereby improving the accuracy of the point cloud data. The base station can also send the incomplete point cloud data to the target device, so that the target device can obtain more accurate point cloud data of the target object.

[0007] In one possible design, the process by which the base station perceives the target object and obtains the original point cloud data of the target object may include: the base station sending a first signal; the base station receiving a second signal, which is the first signal reflected by the target object; and the base station determining the original point cloud data based on the first and second signals; wherein the first and second signals are orthogonal frequency division multiplexing (OFDM) signals.

[0008] With this design, the base station achieves sensing by sending a first signal and receiving a second signal, both of which are OFDM signals. In this way, in the OFDM signal sent by the base station, a portion of the subcarriers are used for communication and another portion is used for sensing, which enables dynamic allocation of signals, optimizes resource utilization, and improves system performance.

[0009] In another possible design, the process by which the base station perceives the target object and obtains the raw point cloud data of the target object may include: the base station receiving a third signal, the third signal including a first sequence, the first sequence being a sequence obtained by the target object reflecting the second sequence in the fourth signal after the first terminal device emits a fourth signal; the third signal and the fourth signal are OFDM signals; the base station determines the raw point cloud data based on the first sequence and the locally stored second sequence.

[0010] With this design, the base station and the first terminal device pre-set a second sequence with high autocorrelation for sensing. In the uplink signal (OFDM signal) sent by the first terminal device, part is used for communication and the other part is used for sensing (i.e. carrying the aforementioned second sequence). The second sequence generates a new sequence through the reflection of the target object, so that the base station can obtain the original point cloud data based on the analysis of the first and second sequences, which can optimize resource utilization and improve system performance.

[0011] In one possible design, the process of the base station sending residual point cloud data to the target device may include: the base station sending residual point cloud data and first indication information to the target device; the first indication information is used to indicate that the residual point cloud data is point cloud data obtained by completing and predicting based on the original point cloud data.

[0012] With this design, the base station can indicate to the target device through the first indication information that the currently transmitted defective cloud data is not obtained through perception, but is obtained through supplementation prediction, thus avoiding confusion on the target device side.

[0013] In one possible design, the method may further include: the base station acquiring the confidence level of the defective cloud data; and the base station sending the confidence level of the defective cloud data to the target device.

[0014] Using this design, the base station can also assess the confidence level of the defective cloud data and send the confidence level to the target device so that the target device can understand the predictive accuracy (or trustworthiness) of the aforementioned defective cloud data.

[0015] In one possible design, the method may further include: the base station sending raw point cloud data and second indication information to the target device, the second indication information being used to indicate that the raw point cloud data is point cloud data obtained by the base station in sensing the target object.

[0016] With this design, the base station can send the raw point cloud data to the target device so that the target device can obtain more accurate point cloud data of the target object; in addition, the second indication information indicates to the target device that the raw point cloud data currently being transmitted is not obtained by completion prediction, but by perception, so as to avoid confusion on the target device side.

[0017] In one possible design, the process by which the base station generates residual point cloud data based on the original point cloud data may specifically include: the base station performing noise reduction filtering on the original point cloud data to determine the purified point cloud data; and the base station determining the residual point cloud data based on the purified point cloud data.

[0018] Using this design, the base station performs noise filtering on the original point cloud data to obtain purified point cloud data, which can remove noise points from the original point cloud data. Further, based on the purified point cloud data, residual point cloud data is determined. This residual point cloud data is virtualized by performing noise reduction and completion operations on the original point cloud data, which can improve the quality of the residual point cloud data, thereby making the corrected point cloud data smoother and more accurate.

[0019] In one possible design, the method may further include: the base station sending purified point cloud data and third indication information to the target device, wherein the third indication information is used to indicate that the purified point cloud data is the point cloud data obtained by the base station performing noise reduction filtering on the original point cloud data.

[0020] Optionally, the base station can also send the confidence level of the cleaned point cloud data to the target device.

[0021] With this design, the base station can send the purified point cloud data to the target device so that the target device can obtain more accurate point cloud data of the target object. In addition, the third indication information indicates to the target device that the currently transmitted raw point cloud data is not obtained by perception or completion prediction, but is obtained by denoising and filtering the raw point cloud data obtained by perception, so as to avoid confusion on the target device side.

[0022] Secondly, this application provides a communication method that can be applied to a target device, or a component (such as a processor, chip, chip system, circuit, functional module, or others) or software module within the target device. The method may include: the target device receiving residual point cloud data from a base station; the residual point cloud data represents the portion of the target object that was not fully perceived by the base station, and the original point cloud data does not include the residual point cloud data; wherein the residual point cloud data is generated based on the original point cloud data obtained by the base station from perceiving the target object.

[0023] In one possible design, the process of the target device receiving the residual point cloud data from the base station may specifically include: the target device receiving the residual point cloud data and the first indication information from the base station; the first indication information is used to indicate that the residual point cloud data is point cloud data obtained by completing and predicting based on the original point cloud data.

[0024] In one possible design, the target device can also receive the confidence level of the defective cloud data from the base station.

[0025] In one possible design, the target device can also receive raw point cloud data and second indication information from the base station; the second indication information is used to indicate that the raw point cloud data is point cloud data obtained by the base station in sensing the target object.

[0026] In one possible design, the target device receives purified point cloud data and third indication information from the base station; the third indication information is used to indicate that the purified point cloud data is the point cloud data obtained by the base station through noise reduction filtering of the original point cloud data.

[0027] Optionally, the target device can receive the confidence level of the cleaned point cloud data from the base station.

[0028] Thirdly, embodiments of this application provide a communication device. The device can implement any possible implementation of the method described in the first to second aspects. The device possesses the functions of the aforementioned base station. The device may be, for example, a base station, or a functional module within a base station.

[0029] In one optional implementation, the apparatus may include modules, units, or means corresponding one-to-one to the methods / operations / steps / actions that perform any possible implementation of any of the first to second aspects. These modules, units, or means may be hardware circuits, software, or a combination of hardware circuits and software. In another optional implementation, the apparatus includes a processing module (sometimes also called a processing unit) and a communication module (sometimes also called a transceiver module, communication unit, etc.). The communication module is capable of both sending and receiving functions. When the communication module performs the sending function, it may be called a sending unit (sometimes also called a sending module); when the communication module performs the receiving function, it may be called a receiving unit (sometimes also called a receiving module). The sending unit and the receiving unit may be the same functional module, referred to as the communication module, which performs both sending and receiving functions; or, the sending unit and the receiving unit may be different functional modules, with "communication module" being a collective term for these functional modules.

[0030] For example, when the apparatus is used to perform the method described in any one of the first to second aspects, the apparatus may include a processing module and a communication module.

[0031] In some examples, the processing module is used to perceive the target object and obtain the original point cloud data of the target object; the processing module is also used to generate residual point cloud data of the target object from the original point cloud data; the residual point cloud data is the part of the target object that was not fully perceived by the device, and the original point cloud data does not include the residual point cloud data; the communication module is used to send the residual point cloud data to the target device.

[0032] In one possible design, the processing module is specifically used to: send a first signal and receive a second signal through a communication module; the second signal is a signal obtained by reflecting the first signal by the target object; determine the original point cloud data based on the first signal and the second signal; wherein the first signal and the second signal are OFDM signals.

[0033] In another possible design, the processing module is specifically used to: receive a third signal via a communication module, the third signal including a first sequence, the first sequence being a sequence obtained by reflecting a second sequence in a fourth signal after the first terminal device emits a fourth signal, and the third and fourth signals being OFDM signals; and determine the original point cloud data based on the first sequence and the locally stored second sequence.

[0034] In one possible design, the communication module is specifically used to: send residual point cloud data and first indication information to the target device; the first indication information is used to indicate that the residual point cloud data is point cloud data obtained by completing and predicting based on the original point cloud data.

[0035] In one possible design, the processing module is also used to: obtain the confidence level of the defective cloud data; the communication module is also used to: send the confidence level of the defective cloud data to the target device.

[0036] In one possible design, the communication module is also used to: send raw point cloud data and second indication information to the target device, wherein the second indication information is used to indicate that the raw point cloud data is point cloud data obtained by the device from sensing the target object.

[0037] In one possible design, the processing module is specifically used to: perform noise reduction filtering on the original point cloud data to determine the purified point cloud data; and determine the residual point cloud data based on the purified point cloud data.

[0038] In one possible design, the communication module is also used to: send purified point cloud data and third indication information to the target device, wherein the third indication information is used to indicate that the purified point cloud data is the point cloud data obtained by the device through noise reduction filtering of the original point cloud data.

[0039] Fourthly, embodiments of this application also provide a communication device, including a processor for executing a computer program (or computer-executable instructions) stored in a memory, which, when executed, causes the device to perform a method as described in any possible implementation of any of the first to second aspects.

[0040] In one possible implementation, the processor and memory are integrated together.

[0041] In another possible implementation, the memory is located outside the communication device.

[0042] The communication device also includes a communication interface for communicating with other devices, such as sending or receiving data and / or signals. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0043] Fifthly, a computer-readable storage medium is provided for storing a computer program or instructions that, when executed, enable the implementation of a method in any possible implementation of the first or second aspect, and the method shown in any possible implementation thereof.

[0044] In a sixth aspect, a computer program product containing instructions is provided, which, when run on a computer, enables the implementation of any possible implementation of the first or second aspect.

[0045] In a seventh aspect, embodiments of this application also provide a communication device for performing a method for any possible implementation of any of the first to second aspects described above.

[0046] Eighthly, a chip or chip system is provided, comprising logic circuitry (or, as understood, a processor, which may include logic circuitry, etc.), and further comprising an input / output interface. The input / output interface can be used to input messages or to output messages. The input / output interface can be the same interface, i.e., the same interface can implement both sending and receiving functions; or, the input / output interface includes an input interface and an output interface, the input interface being used to implement the receiving function, i.e., to receive messages; and the output interface being used to implement the sending function, i.e., to send messages. The logic circuitry can be used to perform operations other than the sending and receiving functions in any possible implementation of any of the first to second aspects described above; the logic circuitry can also be used to transmit messages to the input / output interface or to receive messages from other communication devices from the input / output interface. The chip system can be used to implement any possible implementation of any of the first to second aspects described above. The chip system can be composed of a chip or can include chips and other discrete devices.

[0047] Optionally, the chip system may also include a memory, which can be used to store instructions, and the logic circuits can call the instructions stored in the memory to implement the corresponding functions.

[0048] A ninth aspect provides a communication system that may include a base station and a target device. The base station may be used to implement the method shown in the first aspect and any possible implementation thereof, and the target device may be used to implement the method shown in the second aspect and any possible implementation thereof.

[0049] The technical effects brought about by the second to ninth aspects above can be found in the description of the beneficial effects of the corresponding solutions in the first aspect above, and will not be repeated here. Attached Figure Description

[0050] Figure 1 This application provides a schematic diagram of the architecture of a communication system.

[0051] Figure 2 A schematic diagram of a wireless access network architecture provided for an embodiment of this application;

[0052] Figure 3 An interactive example diagram of a communication device provided in an embodiment of this application;

[0053] Figure 4 A flowchart illustrating a communication method provided in an embodiment of this application;

[0054] Figure 5 A flowchart illustrating a communication method provided in an embodiment of this application;

[0055] Figure 6 A flowchart illustrating another communication method provided in an embodiment of this application;

[0056] Figure 7 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0057] Figure 8 This is a schematic diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific operational methods in the method embodiments can also be applied to the device embodiments or system embodiments; therefore, the implementation of the device and the method can refer to each other, and repeated details will not be repeated.

[0059] In the description of this application, unless otherwise stated, " / " signifies "or," for example, A / B can mean A or B. "And / or" in this application merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Furthermore, in the description of this application, "at least one" refers to one or more items, and "multiple" refers to two or more items. In the description of this application, terms such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0060] The specific implementation of this application will be described below with reference to the accompanying drawings in the embodiments of this application.

[0061] The embodiments of this application can be applied to various communication systems. For example, the communication system may include cellular systems such as Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Universal Mobile Telecommunication System (UMTS), 5G systems, or new radio (NR) systems, or may be applied to future communication systems or other similar communication systems. Alternatively, the communication system may include non-cellular systems such as Ultra Wideband (UWB) systems, Worldwide Interoperability for Microwave Access (WIMAX) communication systems, or WiFi systems.

[0062] Figure 1 This is a schematic diagram of the architecture of the communication system 1000 used in an embodiment of this application. Figure 1 As shown, the communication system 1000 includes a wireless access network 100 and a core network 200. Optionally, the communication system 1000 may also include an Internet 300. The wireless access network 100 may include at least one base station (e.g., Figure 1 The 110a and 110b (also referred to as base station equipment in this application) may further include at least one terminal device (such as... Figure 1 (120a-120j in the original text). Optionally, the core network 200 may include at least one core network device. Terminal devices connect wirelessly to base stations, and base stations connect wirelessly or via wired connections to the core network. Core network devices and base stations can be independent physical devices, or the functions of the core network device and the logical functions of the base station can be integrated into the same physical device, or a single physical device can integrate some core network device functions and some base station functions. Terminal devices and base stations can be interconnected via wired or wireless connections. Figure 1 This is just an illustration; the communication system may also include other devices, such as wireless repeaters and wireless backhaul devices. Figure 1 It is not shown in the middle.

[0063] In this context, a base station (BS) can be understood as an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, a base station in a future mobile communication system, or an access point (AP) in a WiFi system. The aforementioned base station can also be understood as an open RAN (O-RAN or ORAN) or a cloud radioaccess network (CRAN). A base station can be a macro base station (such as...). Figure 1 110a in the text), can also be a micro base station or an indoor station (such as... Figure 1 110b in the context can also be a relay node or a donor node, etc.

[0064] In addition, a base station may include at least one of the following working units: a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. The CU may be connected to the core network, and the CU may be connected to one or more DUs. Optionally, the CU may have some of the functions of the core network.

[0065] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0066] In some examples, a DU can host logical nodes for the RLC layer, MAC layer, higher physical layer (higher PHY) layer, or other functionalities. In some examples, a DU can control at least one RU. The DU connects to the RU through interfaces, which can be fronthaul interfaces.

[0067] In some examples, the CU may not have a PDCP layer, for example, it may only include the RRC layer. The CU-CP may not have PDCP-C. The CU-UP may not have PDCP-U, or may not have CU-UP at all. In some examples, the DU may not have an RLC layer, for example, it may only have MAC and higher physical layers. Furthermore, in some examples, the O-RAN device may also not have a CU and only include the DU, i.e., without an RRC layer.

[0068] The CU and DU can be separate units or included in the same unit, for example, both the CU and DU can be included in the baseband unit (BBU). The RU can be included in radio frequency equipment or radio frequency units, such as in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0069] This application does not limit the number of CUs, DUs, and RUs included in the base station.

[0070] In some examples, the higher physical layer includes portions of the physical layer (PHY) processing, such as forward error correction (FEC) encoding and decoding, scrambling, modulation, and demodulation. In some examples, the RU is a logical node carrying both lower physical layer (lower PHY) and radio frequency (RF) processing. In some examples, the RU can be a 3GPP TRP or RRH or other similar entity. In some examples, the lower physical layer includes portions of the PHY processing, such as fast Fourier transform (FFT), inverse fast Fourier transform (IFFT), digital beamforming, and filtering. The RU communicates with one or more terminal devices via a wireless link.

[0071] In some examples, DU and RU can also be combined into a single DU.

[0072] The embodiments of this application do not limit the specific technology or equipment form used in the base station.

[0073] Core network equipment may include, but is not limited to: access and mobility management function (AMF) network elements, session management function (SMF) network elements, user plane function (UPF) network elements, unified data management (UDM) network elements, policy control function (PCF) network elements, and network exposure function (NEF) network elements.

[0074] AMF (Access Management Function) elements are responsible for user access and mobility management, and can also handle user registration and location update requests. SMF (Service Management Function) elements are responsible for user session management and Internet Protocol (IP) address allocation, and can also handle session establishment, modification, and release requests. UPF (User Plane Function) elements are responsible for routing and forwarding user plane data, and can also manage user sessions and data transmission. UDM (User DM) elements can store user subscription and authentication information, and can also provide user data management and authentication functions. PCF (Process Control Function) elements are responsible for formulating and issuing Quality of Service (QoS) policies and charging rules, and can also cooperate with SMF and UPF to manage user sessions and QoS. NEF (Network Element) elements can expose network capabilities to third-party applications.

[0075] Terminal equipment can also be called user equipment (UE), station (STA), mobile station (MS), mobile terminal (MT), etc. Terminal equipment can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminal equipment can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, in-vehicle equipment, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, user terminals, user devices, user units, user stations, terminals, access stations, remote stations, etc.

[0076] The base station and the UE support interaction between at least one of the following protocol layers: radio resource control (RRC), media access control (MAC), or PHY.

[0077] Base stations and terminal equipment can be fixed or mobile. Base stations and / or terminal equipment can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can be deployed on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of the base stations and terminal equipment.

[0078] The roles of base stations and terminal devices can be relative. For example, Figure 1 The helicopter or drone 120i in the diagram can be configured to support all or part of the base station's functions. For terminal devices 120j accessing the wireless access network 100 via 120i, the drone 120i is a base station; however, for base station 110a, 120i is a terminal device, meaning that 110a and 120i communicate via a wireless air interface protocol. Of course, 110a and 120i can also communicate via a base station-to-base station interface protocol; in this case, 120i is also a base station relative to 110a. Therefore, both base stations and terminal devices can be collectively referred to as communication devices. Figure 1 The 110a and 110b in the text can be referred to as communication devices with base station functions. Figure 1 The 120a-120j in the text can be referred to as communication devices with terminal equipment functions.

[0079] In this application, communication can occur between base stations and terminal devices, between base stations, and between terminal devices using licensed spectrum, unlicensed spectrum (or unlicensed spectrum), or simultaneously using both. Communication can also occur using spectrum below 6 GHz, spectrum above 6 GHz, or simultaneously using both spectrum below 6 GHz and spectrum above 6 GHz. The embodiments of this application do not limit the spectrum resources used for wireless communication.

[0080] Figure 2 This is a schematic diagram of the architecture of the wireless access network 2000 used in the embodiments of this application. Figure 2 As shown, the wireless access network 2000 may include at least one base station ( Figure 2 (Example only of one base station), it may also include at least one terminal device. The devices in this wireless access network 2000 are... Figure 1 The devices in the wireless access network 100 can be used as references to each other.

[0081] Figure 2 The wireless access network 2000 shown can be applied in a sensor-integrated scenario, meaning that while the base station is communicating with the terminal device, it can also sense objects in the environment (including the terminal device).

[0082] The base station can send the sensing results to the target device. For example... Figure 3 As shown, the target device can be a terminal device or a cloud core network device. The sensing result can be point cloud data obtained by the base station through sensing.

[0083] The cloud core network device can be a network element in the core network, a server on the network, or related equipment of the cloud server. Optionally, the cloud core network device can be deployed in the core network, the Internet, or other network locations; this application does not impose any limitations on this.

[0084] In some examples, the base station transmits data to the terminal device via the air interface.

[0085] In some examples, the base station sends data to the cloud core network device via a link.

[0086] To improve the accuracy of point cloud data generated by base stations, this application provides a communication method. The following is a combination of... Figure 4 The technical solution of this application will be described in detail with specific method embodiments. This communication method can be implemented by a base station and a target device. For example... Figure 4 As shown, the communication method may include:

[0087] S401: The base station can perceive the target object and obtain raw point cloud data.

[0088] The following is an exemplary description of the process of obtaining raw point cloud data by perceiving the target object.

[0089] In some examples, the base station transmits a first signal; the base station receives a second signal, which is the first signal reflected by a target object; the base station determines the raw point cloud data based on the transmission of the first and second signals (e.g., the time difference and phase difference between the signals). The first and second signals can be OFDM signals. In this example, the base station can couple the functions of a sensor to achieve point cloud data acquisition.

[0090] In this way, in the OFDM signal transmitted by the base station, part of the subcarriers are used for communication and the other part are used for sensing, which can realize dynamic allocation of signals, optimize resource utilization, and improve system performance.

[0091] In other examples, the base station can receive a third signal from a first terminal device and sense a specific sequence (first sequence) included in the third signal, thereby acquiring point cloud data. Specifically: the base station and the first terminal device can reach a consensus through negotiation: sensing is achieved through a second sequence. The base station and the first terminal device each store the second sequence locally; wherein, the second sequence can be different for different terminal devices. The first terminal device sends a fourth signal to the base station, the fourth signal including the second sequence. The base station receives a third signal, which is the signal obtained by reflecting the fourth signal from a target object; the third signal includes the first sequence, which is the sequence obtained by reflecting the second sequence from the target object. The base station determines the raw point cloud data based on the first and second sequences. The third and fourth signals are OFDM signals.

[0092] In this way, the base station and the first terminal device pre-set a second sequence with high autocorrelation for sensing. In the uplink signal (OFDM signal) sent by the first terminal device, part is used for communication and the other part is used for sensing (i.e. carrying the aforementioned second sequence). The second sequence generates a new sequence through the reflection of the target object, so that the base station can obtain the original point cloud data based on the analysis of the first and second sequences, which can optimize resource utilization and improve system performance.

[0093] In other examples, multiple sensors operate independently, each with specific processing and storage capabilities. At least one sensor can perceive (i.e., acquire data) a target object. The process of sensing the target object may specifically include: the sensor sending a fifth signal and receiving a sixth signal reflected from the target object; the sensor then performs preliminary processing on the sixth signal (including but not limited to filtering, noise reduction, and feature extraction) to obtain perceived data. A base station can connect to at least one sensor via a network. The base station can acquire at least one piece of perceived data from the at least one sensor and can also determine raw point cloud data based on this at least one piece of perceived data. In this example, the base station and at least one sensor are deployed independently. The base station controls and manages the at least one sensor to ensure the acquisition and uploading of perceived data.

[0094] In this way, the base station can control and manage at least one sensor to collect and upload sensing data, thereby determining the raw point cloud data, reducing the sensing burden on the base station, and improving the accuracy of sensing results (including raw point cloud data).

[0095] S402: The base station generates residual point cloud data of the target object based on the original point cloud data obtained from sensing the target object; the residual point cloud data is the part of the target object that was not fully sensed by the base station, and the original point cloud data does not include the residual point cloud data.

[0096] In this embodiment, point cloud data is a collection of a large number of three-dimensional points. Each point, in addition to its coordinates, may also include other attributes (e.g., color, reflection intensity, etc.). Point cloud data is used to represent the feature information of a target object; the feature information of the target object includes, but is not limited to, its position, velocity, or category.

[0097] In this application embodiment, the residual point cloud data is also called the completed point cloud data. The residual point cloud data can be understood as the data required when correcting the original point cloud data. For example, the residual point cloud data includes, but is not limited to: deleting a certain coordinate point in the original point cloud data, adding a coordinate point based on the original point cloud data, and modifying the coordinate value of a certain coordinate point in the original point cloud data.

[0098] In some examples, the process of a base station generating incomplete point cloud data includes: the base station generating incomplete point cloud data of a target object based on the original point cloud data and a completion algorithm. S403: The base station sends the aforementioned incomplete point cloud data to the target device. Correspondingly, the target device receives the incomplete point cloud data from the base station.

[0099] Optionally, the target device can be a second terminal device or a cloud core network device. In some examples, the base station and the second terminal device transmit data (including but not limited to the aforementioned residual cloud data) via an air interface; the base station and the cloud core network device transmit data (including but not limited to the aforementioned residual cloud data) via a link. It should be understood that the first terminal device in S401 and the second terminal device in S403 can be the same or different, and this application does not impose any limitations.

[0100] In one possible design, the process of a base station sending residual point cloud data to a target device may specifically include: the base station sending residual point cloud data and first indication information to the target device; the first indication information is used to indicate that the residual point cloud data is point cloud data obtained by completion prediction based on the original point cloud data. Correspondingly, the target device receives the residual point cloud data and the first indication information from the base station. In this embodiment, the first indication information can also be understood as tag information or attribute information.

[0101] In some examples, during the process of a base station sending point cloud data (including but not limited to residual point cloud data) to a target device, the point cloud data and indication information can be packaged in the same data packet; any N bytes (N is a positive integer greater than or equal to 1) in this data packet are used to indicate the type of point cloud data contained in the data packet. Table 1 (taking N=2 as an example) is an exemplary correspondence table between byte values ​​and point cloud data types provided in the embodiments of this application.

[0102] The value of N bytes Types of point cloud data 00 Raw point cloud data 01 Incomplete cloud data 10、11 Other (expandable)

[0103] Table 1

[0104] Based on Table 1 above, the base station sends data packet A to the target device. Data packet A includes residual point cloud data, and the byte in data packet A used to indicate the type of point cloud data has a value of 0 or 1.

[0105] Using the aforementioned design, the base station can indicate to the target device through the first indication information that the defective cloud data transmitted in S403 is not obtained through perception, but is obtained through completion prediction, thus avoiding confusion on the target device side.

[0106] In one possible design, the aforementioned S403 can be replaced by: the base station can send point cloud data to the target device after correcting the original point cloud data based on the residual point cloud data.

[0107] Optionally, the base station may send the corrected point cloud data and indication information (such as others in Table 1) to the target device to indicate the type of point cloud data; the base station's indication of the type of point cloud data can refer to the aforementioned indication of the type of residual point cloud data, which will not be repeated here.

[0108] Using methods S401 to S403, the base station can generate incomplete point cloud data based on the original point cloud data, thereby improving the accuracy of the point cloud data. The base station can also send incomplete point cloud data to the target device, so that the target device can obtain more accurate point cloud data of the target object.

[0109] In one possible design, to enable the target device to acquire more comprehensive point cloud data, the base station can also send additional point cloud data and related information to the target device. For example... Figure 4 As shown, the communication method may also include S404 and / or S405.

[0110] S404: The base station can also send the confidence level of the defective cloud data to the target device. Correspondingly, the target device can also receive the confidence level of the defective cloud data from the base station.

[0111] In some examples, the confidence level of the defective cloud data is a floating-point number between 0 and 1; the higher the confidence level, the more trustworthy the defective cloud data is; conversely, the lower the confidence level, the less trustworthy the defective cloud data is.

[0112] Optionally, when S406 and S404 are executed simultaneously, the residual point cloud data, the first indication information, and the confidence level can be packaged in the same data packet (e.g., data packet A); any M bytes (M is a positive integer greater than or equal to 1) in the data packet are used to indicate the confidence level of the point cloud data contained in the data packet.

[0113] Optionally, the base station can determine the confidence level of the residual point cloud data based on the prediction process (or calculation process) from the original point cloud data to the residual point cloud data.

[0114] Using the S404 method, the base station can also assess the confidence level of the defective cloud data and send the confidence level to the target device so that the target device can understand the prediction accuracy (or trustworthiness) of the aforementioned defective cloud data.

[0115] S405: The base station can also send raw point cloud data and second indication information to the target device. The second indication information indicates that the raw point cloud data is point cloud data obtained by the base station from sensing the target object. Correspondingly, the target device can also receive the raw point cloud data and second indication information from the base station.

[0116] In some examples, the raw point cloud data and the second indication information can be packaged in the same data packet; based on the aforementioned Table 1, the base station sends data packet B to the target device, which includes the raw point cloud data, and the byte in data packet B used to indicate the data type of the point cloud is 00.

[0117] Using the S405 method, the base station can send the raw point cloud data to the target device so that the target device can obtain more accurate point cloud data of the target object; in addition, the second indication information indicates to the target device that the raw point cloud data transmitted in S405 is not obtained by completion prediction, but by perception, so as to avoid confusion on the target device side.

[0118] In one possible design, the process of the base station generating residual point cloud data in the aforementioned S402 may specifically include: the base station performing noise reduction filtering on the original point cloud data to determine the purified point cloud data; and the base station determining the residual point cloud data based on the purified point cloud data.

[0119] The methods for noise reduction filtering include, but are not limited to: statistical filtering, radius filtering, conditional filtering, Gaussian filtering, bilateral filtering, etc.

[0120] With this design, the base station performs noise filtering on the original point cloud data to obtain purified point cloud data, which can remove noise points from the original point cloud data. Further, based on the purified point cloud data, residual point cloud data is determined. This residual point cloud data is virtualized by performing noise reduction and completion operations on the original point cloud data, which can improve the quality of the residual point cloud data, thereby making the corrected point cloud data smoother and more accurate.

[0121] Based on the aforementioned design, in order to obtain more comprehensive point cloud data for the target device, such as Figure 4 As shown, the communication method may also include S406.

[0122] S406: The base station sends purified point cloud data and third indication information to the target device. The third indication information indicates that the purified point cloud data is the point cloud data obtained by the base station through noise reduction filtering of the original point cloud data. Correspondingly, the target device receives the purified point cloud data and third indication information from the base station.

[0123] In some examples, during the process of the base station sending purified point cloud data and third indication information to the target device, the purified point cloud data and third indication information can be packaged in the same data packet; any N bytes (N is a positive integer greater than or equal to 1) in this data packet are used to indicate the type of point cloud data contained in the data packet. Table 2 (taking N=3 as an example) is an exemplary correspondence table between byte values ​​and point cloud data types provided in the embodiments of this application.

[0124] The value of N bytes Types of point cloud data 000 Raw point cloud data 001 Incomplete cloud data 010 Purifying point cloud data 011、100、101、110、111 Other (expandable)

[0125] Table 2

[0126] Based on Table 2 above, the base station sends data packet C to the target device. Data packet C includes cleaned point cloud data, and the byte in data packet C used to indicate the data type of the point cloud is 010.

[0127] Optionally, the base station can also send the confidence level of the cleaned point cloud data to the target device. Correspondingly, the target device can receive the confidence level of the cleaned point cloud data from the base station. The confidence level of the cleaned point cloud data is a floating-point number between 0 and 1; the higher the confidence level, the more trustworthy the cleaned point cloud data; conversely, the lower the confidence level, the less trustworthy the cleaned point cloud data.

[0128] Optionally, the base station can determine the confidence level of the purified point cloud data based on the computation process from the original point cloud data to the purified point cloud data.

[0129] Using the S406 method, the base station can send the cleaned point cloud data to the target device so that the target device can obtain more accurate point cloud data of the target object. In addition, the third indication information indicates to the target device that the original point cloud data transmitted in S406 is not obtained by sensing or completion prediction, but is obtained by denoising and filtering the original point cloud data obtained by sensing, so as to avoid confusion on the target device side.

[0130] It should be understood that, in the embodiments of this application, the sequence numbers of S403 to S406 do not limit the execution order.

[0131] Based on the communication methods shown in S401 to S406 above, some steps can be combined and executed. For example, the point cloud data and related information involved in S403 to S406 can be packaged and sent. Figure 5 and Figure 6 Example flowcharts for two communication methods are provided to improve customer satisfaction with point cloud data services. The base station can be understood as a first communication device, and the target device as a second communication device; the first communication device can be used to generate point cloud data, and the second communication device can be used to receive point cloud data.

[0132] like Figure 5 As shown, the communication method includes:

[0133] S501: The first communication device generates residual point cloud data and / or corrected point cloud data. For example, the process by which the first communication device generates residual point cloud data and / or corrected point cloud data may include S501-a to S501-c.

[0134] S501-a: The first communication device senses the target object and obtains raw point cloud data. The action of S501-a can be referred to the description in S401 above.

[0135] S501-b: The first communication device determines residual point cloud data based on the original point cloud data; the residual point cloud data is the part that was not fully perceived when the first communication device perceives the target object, and the original point cloud data does not include the residual point cloud data. The action of S501-b can be referred to the description in S402 above.

[0136] S501-c: The first communication device generates corrected point cloud data of the target object based on the original point cloud data and the residual point cloud data; the corrected point cloud data is the point cloud data after correcting the original point cloud data based on the residual point cloud data.

[0137] S502: The first communication device sends data packet 1 to the second communication device. Data packet 1 includes the aforementioned original point cloud data and the category label corresponding to the original point cloud data. The action of S502 can be referred to the description in S405 above.

[0138] Optionally, the category label corresponding to the raw point cloud data can be referenced from the second indication information mentioned above. For example, referring to Table 1 above, the category label corresponding to the raw point cloud data is 00. Or, referring to Table 2 above, the category label corresponding to the raw point cloud data is 000.

[0139] It should be understood that the action of S502 can be executed after S501-a. For example, S502 can be executed before S501-b, and S502 can be executed before S501-c.

[0140] S503: The first communication device sends data packet 2 to the second communication device. Data packet 2 includes the aforementioned corrected point cloud data, the confidence level of the corrected point cloud data, and the category label corresponding to the corrected point cloud data; or, data packet 2 includes residual point cloud data, the confidence level of the residual point cloud data, and the category label corresponding to the residual point cloud data. The operation of S503 can be referred to the descriptions in S403 and S404.

[0141] Optionally, the confidence level of the corrected point cloud data can be a floating-point number between 0 and 1; the higher the confidence level, the more trustworthy the corrected point cloud data is; conversely, the lower the confidence level, the less trustworthy the corrected point cloud data is.

[0142] Optionally, the confidence level of the defective cloud data can be a floating-point number between 0 and 1; the higher the confidence level, the more trustworthy the defective cloud data is; conversely, the lower the confidence level, the less trustworthy the defective cloud data is.

[0143] In some examples, referring to Table 2 above, the category label corresponding to the defective cloud data is 001.

[0144] use Figure 5 The communication method shown allows the first communication device to determine the original point cloud data, the damaged point cloud data, and / or the corrected point cloud data, respectively, so that the second communication device can obtain the original point cloud data, the damaged point cloud data, and / or the corrected point cloud data of the target object. Different point cloud data correspond to different category labels, and the second communication device can obtain more complete and accurate point cloud data without easily causing confusion.

[0145] like Figure 6 As shown, the communication method includes:

[0146] S601: The first communication device generates residual point cloud data and / or corrected point cloud data. For example, the process of the first communication device generating residual point cloud data and / or corrected point cloud data may include S601-a to S601-d.

[0147] S601-a: The first communication device senses the target object and obtains raw point cloud data. The action of S601-a can be referred to the description in S401 above.

[0148] S601-b: The first communication device performs noise reduction filtering on the raw point cloud data to obtain purified point cloud data.

[0149] S601-c: The first communication device determines the residual point cloud data based on the purified point cloud data; the residual point cloud data is the part that was not fully perceived when the first communication device perceives the target object. The original point cloud data does not include the residual point cloud data, and the purified point cloud data does not include the residual point cloud data.

[0150] S601-d: The first communication device generates corrected point cloud data of the target object based on the original point cloud data, the purified point cloud data, and the residual point cloud data; the corrected point cloud data is the point cloud data after correcting the original point cloud data.

[0151] S602: The first communication device sends data packet 3 to the second communication device. Data packet 3 includes the aforementioned original point cloud data and the category label corresponding to the original point cloud data. The action of S602 can be referred to the description in S405 above.

[0152] Optionally, the category label corresponding to the raw point cloud data can be referenced from the second indication information mentioned above. For example, referring to Table 1 above, the category label corresponding to the raw point cloud data is 00. Or, referring to Table 2 above, the category label corresponding to the raw point cloud data is 000.

[0153] It should be understood that the action of S602 can be executed after S601-a. For example, S602 can be executed before S601-b, S602 can be executed before S601-c, and S602 can be executed before S601-d.

[0154] S603: The first communication device sends data packet 4 to the second communication device. Data packet 4 includes the aforementioned cleaned point cloud data, the confidence level of the cleaned point cloud data, and the category label corresponding to the cleaned point cloud data. The action of S603 can be referred to the description in S406.

[0155] Optionally, the confidence level of the purified point cloud data can be a floating-point number between 0 and 1; the higher the confidence level, the more trustworthy the purified point cloud data is; conversely, the lower the confidence level, the less trustworthy the purified point cloud data is.

[0156] In some examples, referring to Table 2 above, the category label corresponding to the cleaned point cloud data is 010.

[0157] It should be understood that the action of S603 can be executed after S601-b. For example, S603 can be executed before S601-c, and S603 can be executed before S601-d.

[0158] S604: The first communication device sends data packet 5 to the second communication device. Data packet 5 includes the aforementioned corrected point cloud data, the confidence level of the corrected point cloud data, and the category label corresponding to the corrected point cloud data; or, data packet 5 includes the aforementioned residual point cloud data, the confidence level of the residual point cloud data, and the category label corresponding to the residual point cloud data. The operation of S603 can be referred to the descriptions in S403 and S404.

[0159] In the embodiments of this application, the confidence level of the residual point cloud data, the confidence level of the corrected point cloud data, and the confidence level of the purified point cloud data can be the same or different; the value of the confidence level can be related to the characteristics of the target object, and the value of the confidence level can be related to the calculation process of the point cloud data. This application does not limit the calculation method of the confidence level.

[0160] use Figure 6 The communication method shown allows the first communication device to determine the original point cloud data, the purified point cloud data, and the corrected point cloud data respectively, so that the second communication device can obtain the original point cloud data, the purified point cloud data, and the corrected point cloud data of the target object. Different point cloud data correspond to different category labels, and the second communication device can obtain more complete and accurate point cloud data without easily causing confusion.

[0161] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0162] It should also be noted that each step in the above embodiments can be executed by the corresponding device, or by components such as chips, processors, or chip systems within that device. The embodiments of this application do not limit their execution. The above embodiments are merely illustrative examples of execution by the corresponding device. Furthermore, the specific implementation methods or examples in the above embodiments do not limit the solutions provided by the embodiments of this application.

[0163] Based on the same technical concept, this application provides a communication device, which includes modules, units or means that perform the method steps in the above method embodiments. The functions, units or means can be implemented by software, or by hardware, or by hardware executing corresponding software.

[0164] For example, see Figure 7 The communication device 7000 may include a processing module 7001 and a communication module 7002.

[0165] Optionally, the communication module 7002 may include a sending module and / or a receiving module. The sending module is used to perform the sending operation in the above method embodiments. The receiving module is used to perform the receiving operation in the above method embodiments. It should be noted that the communication device 7000 may only include a sending module and not a receiving module. Alternatively, the communication device 7000 may only include a receiving module and not a sending module. Specifically, it depends on whether the above scheme executed by the communication device 7000 includes both sending and receiving actions.

[0166] The processing module 7001 is used for data processing. The communication module 7002 can realize the corresponding communication functions.

[0167] Optionally, the communication device 7000 may further include a storage module, which can be used to store instructions and / or data. The processing module 7001 can read the instructions and / or data in the storage module so that the communication device 7000 can implement the aforementioned method embodiments.

[0168] It should be understood that all relevant content of each step involved in the above method embodiments can be referenced to the functional description of the corresponding functional module.

[0169] The processing module 7001 in the above embodiments can be implemented by at least one processor or processor-related circuitry. The communication module 7002 can be implemented by a transceiver or transceiver-related circuitry. The communication module 7002 can also be referred to as a communication module or a communication interface.

[0170] For example, the communication device 7000 can be a base station or a component configured inside a terminal device. The processing module 7001 is used to perceive the target object and obtain its original point cloud data; the processing module 7001 is also used to generate residual point cloud data of the target object from the original point cloud data; the residual point cloud data is the part of the target object that was not fully perceived by the communication device 7000, and the original point cloud data does not include the residual point cloud data; the communication module 7002 is used to send the residual point cloud data to the target device.

[0171] In one possible design, the processing module 7001 is specifically used to: send a first signal and receive a second signal through the communication module 7002; the second signal is the signal obtained by the first signal being reflected by the target object; determine the original point cloud data based on the first signal and the second signal; wherein the first signal and the second signal are OFDM signals.

[0172] In another possible design, the processing module 7001 is specifically used to: receive a third signal via the communication module 7002, the third signal including a first sequence, the first sequence being a sequence obtained by the reflection of the second sequence in the fourth signal after the first terminal device sends out a fourth signal; the third signal and the fourth signal are OFDM signals; and determine the original point cloud data based on the first sequence and the locally stored second sequence.

[0173] In one possible design, the communication module 7002 is specifically used to: send residual point cloud data and first indication information to the target device; the first indication information is used to indicate that the residual point cloud data is point cloud data obtained by completing and predicting based on the original point cloud data.

[0174] In one possible design, the processing module 7001 is further configured to: obtain the confidence level of the defective cloud data; the communication module 7002 is further configured to: send the confidence level of the defective cloud data to the target device.

[0175] In one possible design, the communication module 7002 is also used to: send raw point cloud data and second indication information to the target device, wherein the second indication information is used to indicate that the raw point cloud data is point cloud data obtained by the communication device 7000 in sensing the target object.

[0176] In one possible design, the processing module 7001 is specifically used to: perform noise reduction filtering on the original point cloud data to determine the purified point cloud data; and determine the residual point cloud data based on the purified point cloud data.

[0177] In one possible design, the communication module 7002 is also used to: send purified point cloud data and third indication information to the target device, wherein the third indication information is used to indicate that the purified point cloud data is the point cloud data obtained by the communication device 7000 through noise reduction filtering of the original point cloud data.

[0178] For example, the communication device 7000 can be a target device or a component configured inside the target device. The communication module 7002 is used to receive residual point cloud data from a base station; the residual point cloud data is the part of the target object that was not fully perceived by the base station, and the original point cloud data does not include the residual point cloud data; wherein, the residual point cloud data is generated based on the original point cloud data obtained by the base station in perceiving the target object.

[0179] In one possible design, the communication module 7002 is specifically used to: receive residual point cloud data and first indication information from the base station; the first indication information is used to indicate that the residual point cloud data is point cloud data obtained by completing and predicting based on the original point cloud data.

[0180] In one possible design, the communication module 7002 is also used to: receive the confidence level of the defective cloud data from the base station.

[0181] In one possible design, the communication module 7002 is further configured to: receive raw point cloud data and second indication information from the base station; the second indication information is used to indicate that the raw point cloud data is point cloud data obtained by the base station in sensing the target object.

[0182] In one possible design, the communication module 7002 is further configured to: receive purified point cloud data and third indication information from the base station; the third indication information is used to indicate that the purified point cloud data is point cloud data obtained by the base station through noise reduction filtering of the original point cloud data.

[0183] Optionally, the communication module 7002 is also used to: receive the confidence level of the purified point cloud data from the base station.

[0184] The following is another structural schematic diagram of the communication device according to an embodiment of this application. For example... Figure 8 As shown in the figure, this application embodiment also provides a communication device 8000, including:

[0185] At least one processor 8001; and a communication interface 8003 communicatively connected to the at least one processor 8001; the at least one processor 8001 causes the device to perform the method steps in the above method embodiments through the communication interface 8003 by executing instructions stored in the memory 8002.

[0186] The memory 8002 may be located outside the communication device 8000. Alternatively, the memory 8002 may be located inside the communication device 8000. Optionally, the communication device 8000 includes the memory 8002, which is connected to the at least one processor 8001, and stores instructions executable by the at least one processor 8001. (Appendix) Figure 8 The dashed line indicates that memory 8002 is optional for communication device 8000.

[0187] The processor 8001 and the memory 8002 can be coupled through an interface circuit or integrated together; no restriction is imposed here.

[0188] This application embodiment does not limit the specific connection medium between the processor 8001, memory 8002, and communication interface 8003. This application embodiment... Figure 8 The processor 8001, memory 8002, and communication interface 8003 are connected via a bus 8004. Figure 8 The connections between other components are shown in bold and are for illustrative purposes only, not as limiting information. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0189] Taking a base station as an example, when the communication device 8000 is a base station, the base station may include a processor, a memory, and a transceiver. The memory can store computer program code, and the transceiver includes a transmitter and a receiver.

[0190] The processor is primarily used for processing communication protocols and data; controlling terminal devices; executing software programs; and processing data from those programs. The memory is primarily used for storing software programs and data. The transmitter is used to send signals to other communication devices or equipment, and the receiver is used to receive signals from other communication devices or equipment.

[0191] When the communication device 8000 is a chip in a terminal device, the chip may include a processor, a memory, and a transceiver. The transceiver may be an input / output circuit or a communication interface. The processor may be a processing module integrated on the chip, a microprocessor, or an integrated circuit. In the above method embodiments, the sending operation of the terminal device can be understood as the output of the chip, and the receiving operation of the terminal device in the above method embodiments can be understood as the input of the chip.

[0192] It should be understood that the processor mentioned in the embodiments of this application can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor, implemented by reading software code stored in memory.

[0193] For example, the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0194] It should be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as 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 linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0195] 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, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0196] It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0197] Based on the same technical concept, embodiments of this application also provide a computer-readable storage medium, including a program or instructions, which, when run on a computer, cause the methods in the above method embodiments to be executed.

[0198] Based on the same technical concept, embodiments of this application also provide a computer program product, including instructions that, when run on a computer, cause the methods in the above method embodiments to be executed.

[0199] Based on the same technical concept, embodiments of this application also provide a communication system, which may include a base station and a target device. For example, this communication system can be used to implement... Figure 4The method flow is described in the text. Optionally, the communication system may also include other communication devices.

[0200] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0201] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0202] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0203] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0204] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0205] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

Claims

1. A communication method, characterized in that, The method includes: The base station senses the target object and obtains the raw point cloud data of the target object; The base station generates residual point cloud data of the target object based on the original point cloud data; the residual point cloud data is the part of the target object that was not fully perceived by the base station, and the original point cloud data does not include the residual point cloud data; The base station sends the defective cloud data to the target device.

2. The method as described in claim 1, characterized in that, The base station perceives the target object and obtains the raw point cloud data of the target object, including: The base station sends a first signal; The base station receives a second signal, which is a signal obtained by reflecting the first signal onto the target object. The base station determines the original point cloud data based on the first signal and the second signal; The first signal and the second signal are orthogonal frequency division multiplexing (OFDM) signals.

3. The method as described in claim 1, characterized in that, The base station perceives the target object and obtains the raw point cloud data of the target object, including: The base station receives a third signal, which includes a first sequence. The first sequence is a sequence obtained by reflecting a second sequence in a fourth signal after the first terminal device emits a fourth signal, which is then reflected by the target object. The third signal and the fourth signal are OFDM signals. The base station determines the raw point cloud data based on the first sequence and the second sequence stored locally.

4. The method according to any one of claims 1-3, characterized in that, The base station sends the defective cloud data to the target device, including: The base station sends the residual point cloud data and a first indication information to the target device; the first indication information is used to indicate that the residual point cloud data is point cloud data obtained by completing and predicting based on the original point cloud data.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: The base station obtains the confidence level of the residual cloud data; The base station sends the confidence level of the defective cloud data to the target device.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: The base station sends the raw point cloud data and the second indication information to the target device. The second indication information is used to indicate that the raw point cloud data is the point cloud data obtained by the base station in sensing the target object.

7. The method according to any one of claims 1-6, characterized in that, The base station generates residual point cloud data of the target object based on the original point cloud data, including: The base station performs noise reduction filtering on the original point cloud data to determine the purified point cloud data. Based on the purified point cloud data, the residual point cloud data is determined.

8. The method as described in claim 7, characterized in that, The method further includes: The base station sends the purified point cloud data and third indication information to the target device. The third indication information is used to indicate that the purified point cloud data is the point cloud data obtained by the base station through noise reduction filtering of the original point cloud data.

9. A communication device applied to a base station, characterized in that, Includes a processing module and a communication module; The processing module is used to perceive the target object and obtain the original point cloud data of the target object; The processing module is further used to generate residual point cloud data of the target object from the original point cloud data; the residual point cloud data is the part of the target object that was not fully perceived by the base station, and the original point cloud data does not include the residual point cloud data; The communication module is used to send the defective cloud data to the target device.

10. The apparatus as claimed in claim 9, characterized in that, The processing module is specifically used for: The communication module sends a first signal and receives a second signal; the second signal is the signal obtained by reflecting the first signal onto the target object. The original point cloud data is determined based on the first signal and the second signal; The first signal and the second signal are orthogonal frequency division multiplexing (OFDM) signals.

11. The apparatus as claimed in claim 9, characterized in that, The processing module is specifically used for: The communication module receives a third signal, which includes a first sequence. The first sequence is a sequence obtained by reflecting a second sequence in the fourth signal after the first terminal device emits a fourth signal, which is then reflected by the target object. The third signal and the fourth signal are OFDM signals. The original point cloud data is determined based on the first sequence and the locally stored second sequence.

12. The apparatus as described in any one of claims 9-11, characterized in that, The communication module is specifically used for: The residual point cloud data and first indication information are sent to the target device; the first indication information is used to indicate that the residual point cloud data is point cloud data obtained by completing and predicting based on the original point cloud data.

13. The apparatus as described in any one of claims 9-12, characterized in that, The processing module is also used to: obtain the confidence level of the residual cloud data; The communication module is also used to: send the confidence level of the defective cloud data to the target device.

14. The apparatus according to any one of claims 9-13, characterized in that, The communication module is also used for: The original point cloud data and second indication information are sent to the target device. The second indication information is used to indicate that the original point cloud data is point cloud data obtained by the base station in sensing the target object.

15. The apparatus as described in any one of claims 9-14, characterized in that, The processing module is specifically used for: The original point cloud data is subjected to noise reduction filtering to determine the purified point cloud data; Based on the purified point cloud data, the residual point cloud data is determined.

16. The apparatus as claimed in claim 15, characterized in that, The communication module is also used for: The purified point cloud data and third indication information are sent to the target device. The third indication information is used to indicate that the purified point cloud data is the point cloud data obtained by the base station through noise reduction filtering of the original point cloud data.

17. A communication device, characterized in that, It includes at least one processor for executing computer programs or instructions to implement the method as described in any one of claims 1-8.

18. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions, and when the computer program or instructions are executed by a communication device, the method as described in any one of claims 1-8 is implemented.

19. A computer program product, characterized in that, When the computer program product is executed by a computer, the computer performs the method as described in any one of claims 1-8.

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