Data transmission method and apparatus, and system

Abstract

The present application relates to the field of wireless communication sensing, and provides a data transmission method and apparatus, and a system. The method comprises: acquiring information of N parent meshes and information of M sub-meshes, the information of the N parent meshes being used for representing part of or a whole target object, the information of the M sub-meshes being used for representing the whole of target object, and N and M being positive integers; on the basis of an association criterion between a parent mesh and a sub-mesh, determining from the M sub-meshes a sub-mesh associated with each parent mesh among the N meshes; and sending, to a second communication apparatus, information of the sub-mesh associated with each parent mesh among the N parent meshes. On the basis of the described method, overall information and local detail information of a target object can be both considered, and the transmission bandwidth occupied by transmitting mesh information is effectively controlled.

Description

Data transmission method, device and system Technical Field

[0001] The present application relates to the field of wireless communication perception, and in particular, to a method, device and system for data transmission. Background Art

[0002] In recent years, wireless sensing technology has attracted widespread attention in academia. Integrated communication and sensing systems utilize communication base stations and user devices as sensing nodes to image target scenes of interest and generate point clouds (PCs) for imaging. However, the number of points in a point cloud used to represent urban scenes typically exceeds tens of millions, resulting in large amounts of data and placing high demands on storage and transmission. Compared to transmitting unordered point cloud data, reconstructing the point cloud into a mesh model with clear geometric topology can reduce transmission costs and conserve air interface resource overhead.

[0003] However, in actual target scenes, there are usually many different types of objects. The facet information determined based on the facet model with low facet resolution can only reflect the outline of the target in the scene, and cannot distinguish between different types of objects. In order to be able to distinguish between different types of objects, the facet resolution of the facet model needs to be increased. However, if the facet resolution of the facet information is high, the transmission of the facet information will take up more transmission bandwidth; if the facet resolution of the facet information is low, the facet information that describes different types of objects will not be able to distinguish between different types of objects, thereby reducing the accuracy of environmental perception. Therefore, under normal circumstances, it is difficult to compromise between the transmission bandwidth occupied by the transmission of facet information and the facet resolution.

[0004] Summary of the Invention

[0005] The present application provides a method, device and system for data transmission, which can characterize the information of a target object through facet information, taking into account the overall information and local detail information of the target object, and can also effectively control the transmission bandwidth occupied by transmitting the facet information.

[0006] In a first aspect, a method for data transmission is provided, which is applied to a first communication device, and includes: obtaining information of N parent face elements and information of M child face elements, the information of the N parent face elements being used to characterize a part or the whole of a target object, and the information of the M child face elements being used to characterize the whole of the target object, where N and M are positive integers; determining, from the M child face elements, a child face element associated with each parent face element in the N parent face elements according to an association criterion between the parent face element and the child face element; and sending information of the child face element associated with each parent face element in the N parent face elements to a second communication device.

[0007] For example, the association criterion may be information stored locally in the first communication device, or may be information obtained externally by the first communication device.

[0008] For example, the above-mentioned information of the sub-surface element associated with each parent surface element in the N parent surface elements may include two aspects of information: on the one hand, the information of the sub-surface element, and on the other hand, the association information between the sub-surface element and the parent surface element, so that the second communication device can determine the parent surface element corresponding to the received sub-surface element information, and then correspond the sub-surface element information to the specific part of the target object.

[0009] For example, the above-mentioned parent face element and child face element correspond to different identification information. Assume that child face element 1, child face element 2 and child face element 3 are associated with parent face element 1, where the identification information of parent face element 1 is 1, the identification information of child face element 1 is a, the identification information of child face element 2 is b, and the identification information of child face element 3 is c. Then the association information between parent face element 1 and child face element 1 can be expressed as: 1-a; similarly, the association information between parent face element 1 and child face element 2 can be expressed as: 1-b; the association information between parent face element 1 and child face element 3 can be expressed as: 1-c.

[0010] Based on the above technical solution, the information of the N parent facets obtained can be further refined according to the association criteria to obtain the information of the sub-facets associated with each of the N parent facets, thereby enriching the attribute information corresponding to the N parent facets, enabling the second communication device to more accurately perceive and identify the target object based on this information, thereby ensuring the accuracy of the first communication device's perception of the target object. Moreover, the above-mentioned N parent facets are used to characterize the entirety or part of the target object, so the information of the sub-facets associated with each of the N parent facets is not the information of all sub-facets, but only the sub-facet information corresponding to the area of ​​interest in the target object, not the overall facet information. Therefore, the resource overhead caused by transmitting facet information can be effectively controlled.

[0011] In combination with the first aspect, in some implementations of the first aspect, the association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a sub-surface associated with N parent surfels in the M sub-surfaces.

[0012] For example, when N parent facets are used to represent the entire target object, it is not necessary to send all M sub-facets to the second communication device. It is also necessary to combine the above-mentioned association criteria to filter out sub-facets that meet the association parameter threshold from the M sub-facets, thereby reducing the transmission overhead caused by transmitting the sub-facet information.

[0013] Based on the above technical solution, at least some of the M sub-surfaces can be associated with N parent surfels through the association parameter threshold, instead of transmitting all the M sub-surfaces, thereby reducing the transmission overhead caused by transmitting the sub-surface information.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the information of the N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

[0015] Based on the above technical solution, a specific parent facet is finely identified to determine the information of the child facet associated with each of the N parent facets. The information of the child facet not only includes the existing information types in the information of the parent facet, but can also expand some information types not included in the information of the parent facet, so that the information corresponding to this part of the target object is richer, so that the second communication device can perceive this part of the target object more accurately.

[0016] In combination with the first aspect, in certain implementations of the first aspect, before determining, from the M sub-facets, a sub-facet associated with each of the N parent facets based on the association criterion between the parent facet and the sub-facet, an association criterion is received from the second communication device.

[0017] Based on the above technical solution, the association criteria are sent to the first communication device through the second communication device, so that the first communication device can filter the M sub-face elements based on the association criteria. It is only necessary to send the information of the filtered sub-face elements, thereby avoiding the direct transmission of M sub-face elements and causing a large transmission overhead.

[0018] In combination with the first aspect, in certain implementations of the first aspect, information of L parent facets is sent to a second communication device, where the information of the L parent facets is used to characterize the entire target object, where L is greater than or equal to N and is an integer, and indication information is received from the second communication device, where the indication information is used to indicate the N parent facets.

[0019] For example, after receiving information about L parent planes, the second communication device determines N parent planes from the L parent planes, and then informs the first communication device through indication information that it only needs to perform fine identification on these N parent planes, that is, transmit information about child planes that can be associated with these N parent planes.

[0020] Based on the above technical solution, the second communication device indicates N parent facets to the first communication device, so that the first communication device only needs to determine the sub-facets associated with each of the N parent facets from the M sub-facets, rather than associating all parent facets with sub-facets. This helps reduce the computational overhead incurred by the first communication device during facet association. In addition, the N parent facets indicated by the second communication device are the facets of interest to the second communication device during target perception. Therefore, based on the above indication information, the first communication device only transmits information about the sub-facets associated with the facets of interest, rather than transmitting information about all sub-facets, thereby reducing transmission overhead.

[0021] In combination with the first aspect, in certain implementations of the first aspect, a facet quality standard is received from a second communication device; based on the facet quality standard, N parent facets are determined from L parent facets, and information of the L parent facets is used to characterize the target object as a whole, where L is greater than or equal to N, and L is an integer.

[0022] Based on the above technical solution, the first communication device can determine the corresponding N parent facets based on the facet quality standard. Since the facet quality standard is sent by the second communication device, the determined N parent facets should be the facets of interest to the second communication device. The first communication device only needs to determine the sub-facets associated with each parent facet in the N parent facets from the M sub-facets, rather than associating all parent facets with the sub-facets, thereby helping to reduce the computational overhead caused by the first communication device in the process of associating facets.

[0023] In combination with the first aspect, in certain implementations of the first aspect, the above-mentioned N parent face elements include a first parent face element, the above-mentioned M child face elements include a first child face element, and a first point set and a second point set are determined, the first point set includes sampling points sampled from the first parent face element, and the second point set includes sampling points sampled from the first child face element; the chamfer distance between the first point set and the second point set is determined; when the chamfer distance is less than or equal to a first threshold, the first child face element is associated with the first parent face element, and the first threshold belongs to the above-mentioned association parameter threshold.

[0024] Based on the above technical solution, through the above association criteria, the information of the sub-facets associated with each parent facet among the N parent facets can be determined, and only the information of these relatively fine sub-facets needs to be sent to the second communication device. As for the information of other sub-facets, it does not need to be sent. This not only reduces the resource overhead of transmitting facet information, but also enables the first communication device to obtain more detailed sub-facet information corresponding to the N parent facets, thereby enabling more accurate environmental perception of this part of the facet area.

[0025] In combination with the first aspect, in some implementations of the first aspect, the sampling points sampled from the first parent bin include vertices of the first parent bin, and the sampling points sampled from the first child bin include vertices of the first child bin.

[0026] Based on the above technical solution, since the vertices of the parent surfel and the vertices of the child surfel are basic information in the surfel information, there is no need to perform a sampling operation to determine the point set, thereby reducing the data processing overhead.

[0027] In combination with the first aspect, in certain implementations of the first aspect, the above-mentioned N parent surface elements include a first parent surface element, the above-mentioned M child surface elements include a first child surface element, N clusters of point clouds are determined, and the first point cloud in the N clusters of point clouds corresponds to the first parent surface element in the N parent surface elements; the first point cloud is projected onto the first child surface element; and the first child surface element is associated with the first parent surface element when a first condition is met, and the first condition is any one of the following: the number of points of the first point cloud projected onto the first child surface element is greater than or equal to the second threshold, or the density of the points of the first point cloud projected onto the first child surface element is greater than or equal to the third threshold, or the maximum distance between the first point cloud and the first child surface element is less than or equal to the fourth threshold, and the second threshold, the third threshold or the fourth threshold belongs to the above-mentioned association parameter threshold.

[0028] Based on the above technical solution, through the above association criteria, the information of the sub-facets associated with each parent facet among the N parent facets can be determined, and only the information of these relatively fine sub-facets needs to be sent to the second communication device. As for the information of other sub-facets, it does not need to be sent. This not only reduces the resource overhead of transmitting facet information, but also enables the first communication device to obtain more detailed sub-facet information corresponding to the N parent facets, thereby enabling more accurate environmental perception of this part of the facet area.

[0029] In a second aspect, a method for data transmission is provided, which is applied to a second communication device, and the method includes: sending indication information to a first communication device, where the indication information is used to indicate N parent face elements, and the information of the N parent face elements is used to characterize the part or the whole of the target object, where N is a positive integer; and receiving information from child face elements associated with each parent face element in the N parent face elements.

[0030] In combination with the second aspect, in certain implementations of the second aspect, before receiving information from a sub-surface element associated with each of the N parent surface elements, an association criterion is sent to the first communication device, where the association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a sub-surface element associated with the N parent surface elements.

[0031] In combination with the second aspect, in certain implementations of the second aspect, the information of the N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

[0032] In combination with the second aspect, in certain implementations of the second aspect, before sending indication information to the first communication device, information of L parent face elements is received from the first communication device, where the information of the L parent face elements is used to characterize the entire target object, where L is greater than or equal to N and L is an integer; based on the information of the L parent face elements, indication information is determined, where the indication information is used to indicate the N parent face elements.

[0033] In combination with the second aspect, in certain implementations of the second aspect, before sending indication information to the first communication device, a facet quality standard is sent to the first communication device, where the facet quality standard is used to instruct the first communication device to determine N parent facets from L parent facets, where information of the L parent facets is used to characterize the target object as a whole, where L is greater than or equal to N, and L is an integer.

[0034] In a third aspect, a device for data transmission is provided, which includes: an acquisition unit for acquiring information of N parent face elements and information of M child face elements, the information of the N parent face elements being used to characterize a part or the whole of a target object, and the information of the M child face elements being used to characterize the whole of the target object, where N and M are positive integers; a determination unit for determining, from the M child face elements, the child face elements associated with each of the N parent face elements based on an association criterion between the parent face elements and the child face elements; and a sending unit for sending information of the child face elements associated with each of the N parent face elements to a second communication device.

[0035] In conjunction with the third aspect, in certain implementations of the third aspect, the association criterion includes an association parameter threshold, which is used to determine whether there is a sub-surface associated with N parent surfels among the M sub-surfaces.

[0036] In combination with the third aspect, in certain implementations of the third aspect, the information of the N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

[0037] In combination with the third aspect, in certain implementations of the third aspect, before the determination unit determines, from the M sub-facets, a sub-facet associated with each parent facet in the N parent facets based on an association criterion between the parent facet and the sub-facet, the acquisition unit is further used to: receive the association criterion from the second communication device.

[0038] In combination with the third aspect, in certain implementations of the third aspect, before the acquisition unit acquires the information of N parent facets, the sending unit is further used to: send information of L parent facets to the second communication device, where the information of the L parent facets is used to characterize the target object as a whole, where L is greater than or equal to N, and L is an integer; the acquisition unit is specifically used to: receive indication information from the second communication device, where the indication information is used to indicate the N parent facets.

[0039] In combination with the third aspect, in certain implementations of the third aspect, before the acquisition unit acquires the information of N parent facets, the acquisition unit is also used to: receive a facet quality standard from a second communication device; the acquisition unit is specifically used to: determine N parent facets from L parent facets based on the facet quality standard, where the information of the L parent facets is used to characterize the target object as a whole, where L is greater than or equal to N, and L is an integer.

[0040] In combination with the third aspect, in certain implementations of the third aspect, the above-mentioned N parent face elements include a first parent face element, the above-mentioned M child face elements include a first child face element, and the determination unit is specifically used to: determine a first point set and a second point set, the first point set including sampling points sampled from the first parent face element, and the second point set including sampling points sampled from the first child face element; determine the chamfer distance between the first point set and the second point set; when the chamfer distance is less than or equal to a first threshold, associate the first child face element with the first parent face element, and the first threshold belongs to the association parameter threshold.

[0041] In combination with the third aspect, in certain implementations of the third aspect, the sampling points sampled from the first parent bin include vertices of the first parent bin, and the sampling points sampled from the first child bin include vertices of the first child bin.

[0042] In combination with the third aspect, in certain implementations of the third aspect, the above-mentioned N parent surface elements include a first parent surface element, the above-mentioned M child surface elements include a first child surface element, and the determination unit is specifically used to: determine N clusters of point clouds, the first point cloud in the N clusters of point clouds corresponds to the first parent surface element in the N parent surface elements; project the first point cloud onto the first child surface element; and associate the first child surface element with the first parent surface element when a first condition is met, the first condition being any one of the following: the number of points of the first point cloud projected onto the first child surface element is greater than or equal to the second threshold, or the density of the points of the first point cloud projected onto the first child surface element is greater than or equal to the third threshold, or the maximum distance between the first point cloud and the first child surface element is less than or equal to the fourth threshold, and the second threshold, the third threshold or the fourth threshold belongs to the association parameter threshold.

[0043] In a fourth aspect, a device for data transmission is provided, which includes: a sending unit for sending indication information to a first communication device, wherein the indication information is used to indicate N parent face elements, and the information of the N parent face elements is used to characterize the part or the whole of the target object, where N is a positive integer; and a receiving unit for receiving information from child face elements associated with each parent face element in the N parent face elements.

[0044] In combination with the fourth aspect, in certain implementations of the fourth aspect, before the receiving unit receives information from a sub-surface element associated with each of the N parent surface elements, the sending unit is further used to: send an association criterion to the first communication device, where the association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a sub-surface element associated with the N parent surface elements.

[0045] In combination with the fourth aspect, in certain implementations of the fourth aspect, the information of the N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

[0046] In combination with the fourth aspect, in certain implementations of the fourth aspect, before the sending unit sends the indication information to the first communication device, the receiving unit is also used to: receive information of L parent face elements from the first communication device, where the information of the L parent face elements is used to characterize the entire target object, where L is greater than or equal to N, and L is an integer; the device also includes: a determination unit, used to determine the indication information based on the information of the L parent face elements, where the indication information is used to indicate the N parent face elements.

[0047] In combination with the fourth aspect, in certain implementations of the fourth aspect, before the sending unit sends the indication information to the first communication device, the sending unit is also used to: send a facet quality standard to the first communication device, the facet quality standard is used to instruct the first communication device to determine N parent facets from L parent facets, the information of the L parent facets is used to characterize the target object as a whole, L is greater than or equal to N, and L is an integer.

[0048] In a fifth aspect, a communication device is provided, comprising a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program code, and the processor is used to call the program code to execute a method in any possible implementation mode of the method design of the first aspect or the second aspect above.

[0049] In a sixth aspect, a chip is provided, comprising a processor, which is used to execute a method in any possible implementation of the method design of the first aspect or the second aspect.

[0050] In the seventh aspect, a chip system is provided, which is applied to an electronic device; the chip system includes one or more interface circuits and one or more processors; the interface circuit and the processor are interconnected through lines; the interface circuit is used to echo a signal from the memory of the electronic device and send a signal to the processor, the signal including a computer instruction stored in the memory; when the processor executes the computer instruction, the electronic device executes the method in any possible implementation of the method design of the first aspect or the second aspect above.

[0051] For example, the processor may be replaced by a processing circuit or a logic circuit.

[0052] In an eighth aspect, a computer-readable storage medium is provided, storing a computer program or instruction, which is used to implement the method in any possible implementation manner in the method design of the first aspect or the second aspect.

[0053] In the ninth aspect, a computer program product is provided. When the computer program code or instructions are executed on a computer, the computer executes a method in any possible implementation of the method design of the first aspect or the second aspect.

[0054] In the tenth aspect, a communication system is provided, which includes: a first communication device for executing a method in any possible implementation manner in the method design of the first aspect above; and a second communication device for executing a method in any possible implementation manner in the method design of the second aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] FIG1 is a schematic diagram of a communication system 100 proposed in an embodiment of the present application;

[0056] FIG2 is a flow chart of a data transmission method 200 proposed in an embodiment of the present application;

[0057] FIG3 is a flow chart of a method 300 for associating facets according to an embodiment of the present application;

[0058] FIG4 is a schematic diagram of a point cloud clustering method proposed in an embodiment of the present application;

[0059] FIG5 is a flow chart of another method 500 for associating facets according to an embodiment of the present application;

[0060] FIG6 is a flow chart of another method 600 for data transmission proposed in an embodiment of the present application;

[0061] FIG7 is a flow chart of a method for data transmission in an actual application scenario proposed in an embodiment of the present application;

[0062] FIG8 is a schematic diagram of a data transmission device 800 proposed in an embodiment of the present application;

[0063] FIG9 is a schematic diagram of another data transmission device 900 proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The technical solution in this application will be described below with reference to the accompanying drawings.

[0065] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as wireless fidelity (Wi-Fi) systems, vehicle-to-everything (V2X) communication systems, device-to-device (D2D) communication systems, Internet of Vehicles communication systems, 5th generation (5G) mobile communication systems, such as new radio (NR) systems, and future communication systems, such as 6th generation (6G) mobile communication systems.

[0066] In an embodiment of the present application, the network device may also be referred to as an access network (RAN) node, access network device, RAN entity or access node, etc., which is located on the network side of the above-mentioned communication system to help the terminal device achieve wireless access, and has a device with wireless transceiver function or a chip or chip system that can be set in the device. The network device includes but is not limited to: a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation base station (gNB), a next-generation base station in a 6G mobile communication system, a base station in a future mobile communication system, or an access node in a Wi-Fi system, etc. The network device may be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or an open radio access network (ORAN), or a wireless controller in a centralized radio access network (CRAN) scenario. Optionally, the RAN node may also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in V2X technology may be a road side unit (RSU). All or part of the functions of the network device in this application may also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (such as a cloud platform). The network device in this application may also be a logical node, logical module, or software that can implement all or part of the network device functions.

[0067] In another possible scenario, multiple RAN nodes collaborate to assist terminal devices in achieving wireless access, and different RAN nodes respectively implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be set separately, or they can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0068] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0069] The embodiments of the present application do not limit the form of the network device. The device used to implement the function of the network device can be a network device; it can also be a device that can support the network device to implement the function, such as a chip system. The device can be installed in the network device or used in conjunction with the network device.

[0070] In the embodiment of the present application, the terminal device is a terminal that accesses the above-mentioned communication system and has a wireless transceiver function or a chip or chip system that can be set in the terminal. The terminal device can also be called a user device, an access terminal, a user unit, a user station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent or a user device. The terminal device in the embodiment of the present application can be a mobile phone, a tablet computer, a computer with a wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical care, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a vehicle-mounted terminal, an RSU with terminal function, etc. The terminal device of the present application can also be a vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit that is built into the vehicle as one or more components or units. The vehicle can implement the method provided by the present application through the built-in vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit.

[0071] The communication and perception integrated system uses communication base stations or user equipment as perception nodes to image the target scene of interest and obtain imaging point clouds.

[0072] A point cloud is a dataset in which each point represents a set of spatial coordinates and an intensity value, which can be the intensity of an echo signal recorded based on the reflectivity of an object's surface. These points are combined to form a point cloud, a collection of data points representing a three-dimensional shape or object in space.

[0073] However, urban scene point clouds typically contain tens of millions of points, resulting in large amounts of data that place high demands on storage and transmission. Compared to transmitting unordered point cloud data, reconstructing point clouds into surface models with clear geometric topology can reduce transmission costs and conserve air interface resources.

[0074] Among them, a facet, also known as a patch, mesh, polygon, etc., is a planar area in three-dimensional space. The shape of the planar area is usually a triangle. Of course, it can also be set to other polygons. A facet is usually used to describe a planar area on the surface of a target object. Multiple facets are spliced ​​together to form a facet set. Similar to the above-mentioned point cloud, this facet set can also be used to represent the relevant information of the target object.

[0075] For example, after obtaining an imaging point cloud, a perception node can use a facet reconstruction algorithm to reconstruct a facet set Mesh = {V, E} with a clear topological structure, where V and E represent the coordinates of multiple facet vertices and the topological connectivity between the facet vertices, respectively. To meet the perception refinement requirements of different target perception scenarios, a perception node typically reconstructs multiple facet sets of varying refinement based on a set of imaging point clouds. The facet information corresponding to each facet set can be used to perceive the target scene, but the accuracy of target perception based on these facet sets varies.

[0076] For target scenes with relatively simple object elements, usually facet information with smaller facet resolution is required to accurately perceive the target scene. However, for target scenes with relatively complex object elements, usually facet information with higher facet resolution is required to ensure accurate perception of the target scene.

[0077] However, if the selected facet information has a high resolution, transmitting the facet information will require a large amount of transmission bandwidth. If the selected facet information has a low resolution, the facet information describing multiple different types of objects will not be able to distinguish between the multiple different types of objects, thereby reducing the accuracy of environmental perception. It can be seen that there is a difficult compromise between the transmission bandwidth occupied by transmitting facet information and the facet resolution. In addition, this method requires pre-determining multiple facet sets of different levels of refinement, while only one facet set may ultimately be required, resulting in a large amount of unnecessary computing resource overhead. Moreover, considering that for target scenes with relatively complex object elements, usually only at least a portion of the target scene needs to be represented by facet information with a high facet resolution in order to perform fine processing on this portion of the target scene, if all elements of the entire target scene are represented by facet information with a high facet resolution, a large amount of unnecessary transmission bandwidth overhead will inevitably be incurred during the transmission of the facet information.

[0078] In view of this, an embodiment of the present application proposes a method, device and system for data transmission, wherein the method can determine the information of the sub-face element corresponding to the face element of interest, the attribute information of the sub-face element is more accurate and rich, and the information of the face element of interest and the corresponding sub-face element is jointly sent to the control node, so that the control node can perceive and identify the area of ​​interest of the target object more accurately based on the information.

[0079] Fig. 1 is a schematic diagram of a communication system 100 proposed in an embodiment of the present application. The communication system 100 can be applied to a cellular communication network.

[0080] The communication system 100 includes: a transmitting node, a receiving node and a control node.

[0081] The transmitting node is used to transmit a sensing signal to the target object, and the sensing signal is also called a transmitting signal.

[0082] The receiving node is used to receive the echo signal. The echo signal is transmitted to the receiving node in the form of an echo signal after the above-mentioned transmission signal emitted by the transmitting node contacts the target object and is acted upon by the target object. The action includes reflection, diffraction or scattering, etc. The receiving node includes a processor for performing signal processing on the echo signal to determine the corresponding face element information and send the face element information to the control node.

[0083] The control node is used to receive the above-mentioned facet information, and based on the facet information and the element information of the perception scene, determine at least one facet of interest among the multiple facets corresponding to the facet information, determine the corresponding association criteria, and send the identification information and association criteria of the at least one facet of interest to the receiving node.

[0084] Therefore, after the receiving node receives the identification information and association criteria of the above-mentioned facets of interest, it is also used to finely identify at least one facet of interest based on the identification information of at least one facet of interest, determine multiple sub-facets, and associate the sub-facets with the corresponding facets of interest based on the association criteria, and send the new facet information after the facet association to the control node, so that the control node can perceive and identify the target object based on all the received facet information.

[0085] In some possible embodiments, the above-mentioned transmitting node, receiving node and control node can be deployed in one or more network devices (for example, base stations), or deployed in one or more terminal devices, or deployed in network devices (base stations) or terminal devices respectively. The embodiments of the present application are not limited to this.

[0086] Based on the above-mentioned communication system 100, an embodiment of the present application proposes a method for data transmission.

[0087] 2 is a flow chart of a data transmission method 200 proposed in an embodiment of the present application. The method 200 is applied to a first communication device, which may include a receiving node in the communication system 100 described above.

[0088] S210: Obtain information of N parent panes and information of M child panes.

[0089] The information of the N parent facets is used to represent a portion or the entirety of the target object, and the information of the M child facets is used to represent the entirety of the target object, where N and M are positive integers. A portion of the target object refers to a region of interest (ROI) on the target object, and the facets used to represent the ROI are also called facets of interest. The entirety of the target object refers to the entire surface area of ​​the target object within the perception range of the first communication device. When the information of the N parent facets is used to represent the entirety of the target object, the entire surface area of ​​the target object belongs to the ROI.

[0090] In some possible embodiments, the N parent surfels may be the surfels of interest in the above embodiment.

[0091] In some possible embodiments, the value of N in the above-mentioned N parent elements depends on the object element information of the specific perception scene, where the object element information includes the number of objects, the distance between objects, the location of object distribution, etc.

[0092] S220: Determine, from the M sub-surfaces, a sub-surface associated with each of the N parent surfels based on an association criterion between the parent surfel and the sub-surface. In some possible embodiments, the association criterion may be information stored locally on the first communication device or may be information obtained externally by the first communication device.

[0093] In some possible embodiments, the association criteria are used to associate the N parent bins with some of the M child bins, or to indicate an association relationship between the N parent bins and the M child bins. Furthermore, the association criteria may also be referred to as association relationships, association indication information, association information, criteria, etc. The present embodiments do not limit alternative naming conventions for the association criteria.

[0094] S230: Sending information of the child bin associated with each of the N parent bins to the second communication device.

[0095] In some possible embodiments, the second communication device may include a control node in the communication system 100 .

[0096] It should be understood that the aforementioned parent bins can also be referred to as first-level bins; accordingly, the aforementioned child bins can also be referred to as second-level bins; similarly, the child bins of the aforementioned child bins can be referred to as third-level bins. However, the aforementioned parent bins are not absolute concepts. For example, in this method 200, second-level bins are referred to as child bins, but the definition of second-level bins as child bins is based on first-level bins. Therefore, for third-level bins, the second-level bins are the parent bins of the third-level bins, and correspondingly, the third-level bins are the child bins of the second-level bins. Therefore, this method 200 can be applied to associate third-level bins with second-level bins.

[0097] In some possible embodiments, the above-mentioned information of the sub-surface associated with each parent surfel in the N parent surfels may include two aspects of information: one is the information of the sub-surface, and the other is the association information between the sub-surface and the parent surfel.

[0098] In some possible embodiments, the above-mentioned parent face element and child face element correspond to different identification information. Assume that child face element 1, child face element 2 and child face element 3 are associated with parent face element 1, where the identification information of parent face element 1 is 1, the identification information of child face element 1 is a, the identification information of child face element 2 is b, and the identification information of child face element 3 is c. Then the association information between parent face element 1 and child face element 1 can be expressed as: 1-a; similarly, the association information between parent face element 1 and child face element 2 can be expressed as: 1-b; the association information between parent face element 1 and child face element 3 can be expressed as: 1-c. The embodiments of the present application do not limit the specific identification method of face elements.

[0099] It should be understood that although the information of M sub-surface elements has been obtained in S210, the information of the M sub-surface elements can more finely characterize the perception information of the target object. However, since the surface element resolution of the information of the M sub-surface elements is greater than the surface element resolution of the information of any parent surface element, the data volume of the information of the M sub-surface elements is relatively large. If the information of the M sub-surface elements is directly sent to the second communication device, it will cause a large transmission resource overhead. Therefore, it is necessary to obtain the information of N parent surface elements, and combine the association criteria to associate the information of the N parent surface elements with some sub-surface elements in the information of the M sub-surface elements. Then, it is only necessary to send the information of the sub-surface elements associated with each parent surface element of the N parent surface elements to the second communication device.

[0100] Based on the above technical solution, the information of the N parent facets obtained can be further refined according to the association criteria to obtain the information of the sub-facets associated with each of the N parent facets, thereby enriching the attribute information corresponding to the N parent facets, enabling the second communication device to more accurately perceive and identify the target object based on this information, thereby ensuring the accuracy of the first communication device's perception of the target object. Moreover, the above-mentioned N parent facets are used to characterize the entirety or part of the target object, so the information of the sub-facets associated with each of the N parent facets is not the information of all sub-facets, but only the sub-facet information corresponding to the area of ​​interest in the target object, not the overall facet information. Therefore, the resource overhead caused by transmitting facet information can be effectively controlled.

[0101] In some possible embodiments, the information of the parent facet may include relatively coarse facet information, such as the material information and texture information of the target object surface corresponding to the facet, while the information of the child facet may include more refined facet information, such as the material information and texture information of the target object surface corresponding to the facet. Compared with the information of the parent facet, the information of the child facet may include more detailed facet information, such as not only the material information and texture information of the target object surface corresponding to the facet, but also information such as the dielectric constant, magnetic permeability, scattering coefficient, and facet quality. Therefore, it can be seen that the information of the child facet can be further expanded on the basis of integrating the information of the corresponding parent facet.

[0102] Among them, material information is used to characterize the category of target objects, such as ground, buildings, vegetation and water bodies.

[0103] Texture information is used to characterize the changes in visual features of the target object, including local texture features and global texture features.

[0104] The dielectric constant is used to characterize the dielectric and polarization properties of the target object and can be expressed as ε.

[0105] Magnetic permeability is used to characterize the degree of magnetization of a target object and can be expressed in μ.

[0106] The scattering coefficient is used to characterize the reflectivity per unit area of ​​the target object.

[0107] The quality of the surface element is used to characterize the information of the surface element side length, surface element internal angle and surface element area.

[0108] Based on the above technical solution, a specific parent facet is finely identified to determine the information of the child facet associated with each of the N parent facets. The information of the child facet not only includes the existing information types in the information of the parent facet, but can also expand some information types not included in the information of the parent facet, so that the information corresponding to this part of the target object is richer, so that the second communication device can perceive this part of the target object more accurately.

[0109] In some possible embodiments, when the association criterion is obtained externally by the first communication device, before S220 , the first communication device may further perform the following operation: receiving the association criterion from the second communication device.

[0110] Based on the above technical solution, the association criteria are sent to the first communication device through the second communication device, so that the first communication device can filter the M sub-face elements based on the association criteria. It is only necessary to send the information of the filtered sub-face elements, thereby avoiding the direct transmission of M sub-face elements and causing a large transmission overhead.

[0111] In some possible embodiments, before the above S210, the first communication device may further perform the following operation: sending information of L parent facets to the second communication device, where L is greater than or equal to N and L is an integer, and the information of the L parent facets is used to represent the entire target object.

[0112] It should be understood that the above-mentioned L parent bins include the above-mentioned N parent bins.

[0113] In some possible embodiments, the first communication device may obtain information about the N parent facets by: receiving indication information from the second communication device, the indication information being used to indicate the N parent facets. The first communication device may then determine information about the N parent facets based on the indication information.

[0114] Based on the above technical solution, the second communication device indicates N parent facets to the first communication device, so that the first communication device only needs to determine the sub-facets associated with each of the N parent facets from the M sub-facets, rather than associating all parent facets with sub-facets. This helps reduce the computational overhead incurred by the first communication device during facet association. In addition, the N parent facets indicated by the second communication device are the facets of interest to the second communication device during target perception. Therefore, based on the above indication information, the first communication device only transmits information about the sub-facets associated with the facets of interest, rather than transmitting information about all sub-facets, thereby reducing transmission overhead.

[0115] In some possible embodiments, before S210, the first communication device may further perform the following operation: receiving a bin quality standard from the second communication device. The first communication device may then obtain information about the N parent bins by determining N parent bins from L parent bins based on the bin quality standard, where L is an integer greater than or equal to N, and the information about the L parent bins is used to represent the entire target object. The bin quality of the N parent bins meets the bin quality standard.

[0116] In some possible embodiments, the present application proposes four association criteria. In addition, the first communication device may select at least one of the four criteria according to the indication of the association criteria to screen the M sub-facets.

[0117] In some possible embodiments, the above association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a sub-surface associated with N parent surfels among the M sub-surfaces.

[0118] In addition, this embodiment of the application divides the above four association criteria into two types of association methods: Type 1: Based on the position information between the N parent surfels and the M sub-surfaces, at least one sub-surface that can be associated with the N parent surfels is directly determined; Type 2: Using the point cloud information corresponding to the target object as a medium, at least one second surfel that can be associated with the N parent surfels is determined. These two types of association criteria are described in detail below.

[0119] For the above type 1, the association criteria may include the following criteria:

[0120] Criterion 1: The chamfer distance between the first point set and the second point set is less than or equal to a first threshold, wherein the first point set includes sampling points sampled from the parent bin, and the second point set includes sampling points sampled from the child bin.

[0121] For the convenience of description, the following takes the determination of whether the first parent bin among N parent bins is associated with the first sub-bin among M sub-bins as an example to describe in detail the association method based on criterion 1.

[0122] 3 is a flow chart of a method 300 for associating facets according to an embodiment of the present application. The method 300 is an implementation of S220 in the above method 200.

[0123] S310: Determine a first point set S1 and a second point set S2.

[0124] The first point set S1 includes sampling points sampled from the first parent bin, and the second point set S2 includes sampling points sampled from the first child bin.

[0125] S320: Determine the chamfer distance between the first point set S1 and the second point set S2.

[0126] S330: When the chamfer distance is less than or equal to the first threshold, associate the first sub-surface with the first parent surface.

[0127] The first threshold value belongs to the above-mentioned associated parameter threshold value.

[0128] In some possible embodiments, the sampling points sampled from the first parent bin may be any sampling points on the first parent bin, or may be vertices of the first parent bin. The sampling points sampled from the first sub-bin may be any sampling points on the first sub-bin, or may be vertices of the first sub-bin.

[0129] In some possible embodiments, the chamfer distance between the first point set S1 and the second point set S2 can be determined by the following formula (1).

[0130] Wherein, CD(s1, s2) is used to represent the chamfer distance between the first point set S1 and the second point set S2.

[0131] Based on the above technical solution, through the above association criteria, the information of the sub-facets associated with each parent facet among the N parent facets can be determined, and only the information of these relatively fine sub-facets needs to be sent to the second communication device. As for the information of other sub-facets, it does not need to be sent. This not only reduces the resource overhead of transmitting facet information, but also enables the first communication device to obtain more detailed sub-facet information corresponding to the N parent facets, thereby enabling more accurate environmental perception of this part of the facet area.

[0132] For the above-mentioned type 2, when performing bin association based on the association criteria of type 2, the above-mentioned first communication device also needs to perform the following operations:

[0133] Determine point cloud information and L parent surfels. The point cloud information includes K points, and the K points are used to represent the entire target object. The L parent surfels are also used to represent the entire target object. Then, establish an association between the K points and the L parent surfels, that is, map the K points onto the L parent surfels to determine L cluster point clouds.

[0134] FIG4 is a schematic diagram of a point cloud clustering proposed in an embodiment of the present application.

[0135] As shown in Figure 4, L parent surfels correspond one-to-one to L clusters of point clouds. Therefore, the point clouds corresponding to the N parent surfels are also divided into N clusters, and the first parent surfel can be mapped to the first point cloud in the N clusters. Then, when determining whether the first sub-surface is associated with the first parent surfel, the first point cloud needs to be projected onto the first sub-surface so that at least a portion of the first point cloud is projected onto the first sub-surface.

[0136] It should be understood that the above-mentioned projection and mapping are two different ways of association. For example, if K points are mapped to L parent planes, then each of the K points can be mapped to one of the L parent planes. However, if the first point cloud is projected onto the first sub-plane, then there is no guarantee that every point in the first point cloud can be projected onto the first sub-plane.

[0137] Only after performing the above preparation steps can it be determined whether the first sub-surface is associated with the first parent surfel in combination with the association criterion.

[0138] Criterion 2: the number of points of the first point cloud projected onto the first sub-surface is greater than or equal to a second threshold;

[0139] Criterion 3: the density of points of the first point cloud projected onto the first sub-surface is greater than or equal to a third threshold;

[0140] Criterion 4: The maximum distance between the first point cloud and the first sub-surface is less than or equal to a fourth threshold.

[0141] Among them, the second threshold, the third threshold or the fourth threshold belongs to the above-mentioned associated parameter threshold.

[0142] Based on the above criteria 2 to 4, the embodiment of the present application proposes another method for associating facets.

[0143] 5 is a flow chart of another method 500 for associating facets according to an embodiment of the present application. The method 500 is another implementation of S220 in the above method 200.

[0144] S510: Determine N clusters of point clouds.

[0145] Among them, the first point cloud in the N cluster point clouds corresponds to the first parent surface element in the N parent surface elements;

[0146] S520: Project the first point cloud onto the first sub-surface.

[0147] S530: When any one of the above criteria 2 to 4 is met, associate the first child bin with the first parent bin.

[0148] It should be understood that the above-mentioned association parameter threshold can be a parameter threshold with a specific unit. When the first communication device determines that the unit of the association parameter threshold is a quantity unit, it can be determined that the above-mentioned criterion 2 should be adopted to perform the association operation between the parent face element and the child face element; when the first communication device determines that the unit of the association parameter threshold is a density unit, it can be determined that the above-mentioned criterion 3 should be adopted to perform the association operation between the parent face element and the child face element; however, when the first communication device determines that the unit of the association parameter threshold is a distance unit, the above-mentioned association criterion also needs to indicate that the association parameter threshold is the distance unit of the above-mentioned criterion 1 or criterion 4, so that the first communication device can determine whether to adopt the above-mentioned criterion 1 or criterion 4 to perform the association operation between the parent face element and the child face element.

[0149] In some possible embodiments, the above-mentioned association parameter threshold can be adjusted based on different perception scenario requirements. Taking the above-mentioned criterion 2 as an example, if the second communication device needs to obtain more sub-face element information, the second threshold can be appropriately reduced so that the parent face element can be associated with more sub-face elements.

[0150] In some possible embodiments, the association criteria may further include criteria other than the four criteria proposed in the above examples.

[0151] Based on the above technical solution, through the above association criteria, the information of the sub-facets associated with each parent facet among the N parent facets can be determined, and only the information of these relatively fine sub-facets needs to be sent to the second communication device. As for the information of other sub-facets, it does not need to be sent. This not only reduces the resource overhead of transmitting facet information, but also enables the first communication device to obtain more detailed sub-facet information corresponding to the N parent facets, thereby enabling more accurate environmental perception of this part of the facet area.

[0152] Figure 6 is a flowchart illustrating another method 600 for data transmission according to an embodiment of the present application. Method 600 is applied to a second communication device, which may be a control node in the aforementioned communication system 100. Method 600 is the operation of the peer communication device of method 200, corresponding to the steps of method 200.

[0153] S610: Send instruction information to the first communication device.

[0154] The indication information is used to indicate N parent bins, where N is a positive integer. The indication information is the indication information described in the above method 200 and the corresponding embodiments. Therefore, for the relevant embodiments of the indication information, please refer to the above corresponding embodiments and will not be repeated here.

[0155] S620: Receive information from a child bin associated with each of the N parent bins.

[0156] In some possible embodiments, before S620, the second communication device may further perform the following step: sending an association criterion to the first communication device, where the association criterion indicates a condition that a child bin associated with each of the N parent bins must satisfy. It should be understood that the association criterion in this embodiment may be any one of Criteria 1 to Criteria 4 described in the above embodiment. A detailed description of the association criterion is provided in the above corresponding embodiment and is not repeated here.

[0157] In some possible embodiments, the above association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a child surfel associated with N parent surfels.

[0158] In some possible embodiments, the information of the above-mentioned N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

[0159] In some possible embodiments, before the above-mentioned S610, the above-mentioned second communication device may also perform the following steps: receiving information of L parent face elements from the first communication device, where L is greater than or equal to N and L is an integer, and the information of the L parent face elements is used to characterize the entire target object; based on the information of the above-mentioned L parent face elements, determining indication information, and the indication information is used to indicate the N parent face elements.

[0160] In some possible embodiments, the value of N in the above-mentioned N parent face elements is determined by the second communication device based on the object element information of the specific perception scene, where the object element information includes the number of objects, the distance between objects, the location of object distribution, etc.

[0161] In some possible embodiments, before the above-mentioned S610, the above-mentioned second communication device may also perform the following steps: sending a facet quality standard to the first communication device, where the facet quality standard is used to instruct the first communication device to determine N parent facets from L parent facets, where L is greater than or equal to N, and L is an integer, and the information of the L parent facets is used to characterize the target object as a whole.

[0162] In some possible embodiments, the parent face element described in the above embodiment can be called a first-level face element, and the sub-face element associated with the parent face element can be called a second-level face element. The above-mentioned second communication device can also instruct the first communication device through the above-mentioned indication information to further fine-tune the identification of some of the sub-face elements described in the above embodiment to determine the next-level sub-face elements associated with these sub-face elements, that is, the third-level face elements. The information included in the third-level face elements can be information inherited from the associated second-level face elements, and the information of the second-level face elements is expanded.

[0163] For ease of understanding, the following describes the method in detail using an example in a practical application scenario in combination with the method described in the above embodiment.

[0164] FIG7 is a flow chart of a method for data transmission in an actual application scenario proposed in an embodiment of the present application.

[0165] S710: The first communication device obtains point cloud information, first-level facet information, and second-level facet information.

[0166] The point cloud information, first-level surfel information, and second-level surfel information are each used to represent the entire target object. It should be understood that the point cloud information in this embodiment has the same meaning as the point cloud information described in the corresponding embodiment for the Type 2 association criterion. The first-level surfel information in this embodiment has the same meaning as the information of the L parent surfels in the aforementioned method 200 and the corresponding embodiment. The second-level surfel information in this embodiment has the same meaning as the information of the M child surfels in the aforementioned method 200 and the corresponding embodiment.

[0167] S715: The second communication device sends first indication information to the first communication device.

[0168] The first indication information is used to instruct sending the first-level bin information. In addition, the first indication information also carries a bin quality standard.

[0169] S720: Determine whether the first-level bin information and the second-level bin information meet the bin quality standard.

[0170] If the second communication device determines that the first-level facet information meets the facet quality standard, go to S725; if the second communication device determines that the first-level facet information and the second-level facet information do not meet the facet quality standard, go to S730; if the second communication device determines that the second-level facet information meets the facet quality standard, go to S735.

[0171] S725: The first communication device sends the first-level facet information to the second communication device.

[0172] S730: The first communication device sends first feedback information to the second communication device.

[0173] The first feedback information is used to indicate that the processing capability of the first communication device is insufficient and that the first communication device is unable to obtain the bin information meeting the bin quality standard.

[0174] S735: The first communication device sends second feedback information to the second communication device.

[0175] The second feedback information is used to indicate that the second-level bin information of the first communication device meets the bin quality standard.

[0176] S740: The second communication device sends second indication information to the first communication device.

[0177] The second indication information is used to indicate N facets of interest and an association criterion, where the N facets of interest are used to represent the entirety or a portion of the target object.

[0178] It should be understood that the second indication information in this embodiment has the same meaning as the indication information described in the above method 200 and the corresponding embodiments. Accordingly, the N face elements of interest in this embodiment have the same meaning as the N parent face elements described in the above method 200 and the corresponding embodiments. The association criterion in this embodiment can be any one of criteria 1 to 4 described in the above embodiment.

[0179] S745: The first communication device determines, from the second-level facets, sub-facets associated with the N facets of interest according to an association criterion.

[0180] S750: The first communication device sends information of sub-facets associated with each facet of interest to the second communication device.

[0181] In some possible embodiments, in S740, the second communication device may also send only the association criteria to the first communication device to indicate that the second communication device is interested in all the surfels of the target object. When the first communication device receives only the association criteria, it can determine that the surfels of interest are all first-level surfels (parent surfels). Based on the association criteria, the first communication device can then determine, from all second-level surfels, the second-level surfels (child surfels) associated with each first-level surfel.

[0182] Based on the above technical solution, the first communication device determines the sub-surface information corresponding to the surface of interest based on an association criterion. This sub-surface information contains more accurate and rich attribute information. The first communication device then transmits the information about the surface of interest and the corresponding sub-surface information to the second communication device, enabling the second communication device to more accurately perceive and identify the target object's region of interest based on this information. Furthermore, these sub-surfaces associated with the surface of interest are selected from all sub-surfaces based on the association criterion. Therefore, compared to the transmission overhead incurred by directly transmitting the information for all sub-surfaces, the data transmission based on this method results in lower transmission overhead.

[0183] An embodiment of the present application also provides a device for implementing any of the above methods. For example, a data transmission device is provided. The device can be a sub-module integrated in the above-mentioned first communication device or the second communication device, and includes a unit (or means) for implementing any of the above data transmission methods.

[0184] FIG8 is a schematic diagram of a data transmission device 800 proposed in an embodiment of the present application.

[0185] The apparatus 800 comprises:

[0186] The acquisition unit 810 is used to obtain information of N parent facets and M child facets, where the information of the N parent facets is used to characterize a part or the whole of the target object, and the information of the M child facets is used to characterize the whole of the target object, where N and M are positive integers.

[0187] The determining unit 820 is configured to determine, from the M sub-surfaces, a sub-surface associated with each of the N parent surfels according to an association criterion between the parent surfel and the sub-surface.

[0188] The sending unit 830 is configured to send information about the child facets associated with each parent facet to the second communication device.

[0189] In some possible embodiments, the above association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a sub-surface associated with N parent surfels among the M sub-surfaces.

[0190] In some possible embodiments, the information of the above-mentioned N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

[0191] In some possible embodiments, before the determining unit 820 determines, from the M sub-surfaces, a sub-surface associated with each of the N parent surfels according to an association criterion between the parent surfel and the sub-surface, the acquiring unit 810 is further configured to:

[0192] Association criteria are received from the second communication device.

[0193] In some possible embodiments, before the acquisition unit 810 acquires the information of N parent facets, the sending unit 830 is further used to: send information of L parent facets to the second communication device, where L is greater than or equal to N and L is an integer, and the information of the L parent facets is used to characterize the entire target object; in addition, the acquisition unit 810 is specifically used to: receive indication information from the second communication device, where the indication information is used to indicate the N parent facets.

[0194] In some possible embodiments, before the acquisition unit 810 acquires the information of N parent facets, the acquisition unit 810 is further used to: receive a facet quality standard from a second communication device; in addition, the acquisition unit 810 is specifically used to: determine N parent facets from L parent facets according to the facet quality standard, where L is greater than or equal to N and L is an integer, and the information of the L parent facets is used to characterize the target object as a whole.

[0195] In some possible embodiments, the above-mentioned N parent face elements include a first parent face element, the above-mentioned M child face elements include a first child face element, and the above-mentioned determination unit 820 is specifically used to: determine a first point set and a second point set, the first point set includes sampling points sampled from the first parent face element, and the second point set includes sampling points sampled from the first child face element; determine the chamfer distance between the first point set and the second point set; when the chamfer distance is less than or equal to a first threshold, associate the first child face element with the first parent face element, and the first threshold belongs to the association parameter threshold.

[0196] In some possible embodiments, the sampling points sampled from the first parent bin include vertices of the first parent bin, and the sampling points sampled from the first child bin include vertices of the first child bin.

[0197] In some possible embodiments, the N parent face elements include a first parent face element, the M child face elements include a first child face element, and the determination unit 820 is specifically used to: determine N clusters of point clouds, the first point cloud in the N clusters of point clouds corresponds to the first parent face element in the N parent face elements; project the first point cloud onto the first child face element; and associate the first child face element with the first parent face element when a first condition is met, the first condition being any one of the following: the number of points of the first point cloud projected onto the first child face element is greater than or equal to the second threshold, or the density of the points of the first point cloud projected onto the first child face element is greater than or equal to the third threshold, or the maximum distance between the first point cloud and the first child face element is less than or equal to the fourth threshold, and the second threshold, the third threshold or the fourth threshold belongs to the association parameter threshold.

[0198] FIG9 is a schematic diagram of another data transmission device 900 proposed in an embodiment of the present application.

[0199] The apparatus 900 comprises:

[0200] The sending unit 910 is configured to send indication information to the first communication device, where the indication information is used to indicate N parent surfels. Information of the N parent surfels is used to represent a part or the whole of a target object, where N is a positive integer.

[0201] The receiving unit 920 is configured to receive information from a child bin associated with each of the N parent bins.

[0202] In some possible embodiments, before the receiving unit 920 receives information from a sub-surface element associated with each of the N parent surface elements, the sending unit 910 is further used to: send an association criterion to the first communication device, where the association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a sub-surface element associated with the N parent surface elements.

[0203] In some possible embodiments, before the sending unit 910 sends the instruction information to the first communication device, the receiving unit 920 is further configured to: receive information of L parent facets from the first communication device, where L is greater than or equal to N and is an integer, and the information of the L parent facets is used to represent the target object; in addition, the apparatus 900 further includes:

[0204] The determining unit 930 is configured to determine indication information according to information of the L parent bins, where the indication information is used to indicate the N parent bins.

[0205] In some possible embodiments, before the sending unit 910 sends the indication information to the first communication device, the sending unit 910 is also used to: send a facet quality standard to the first communication device, where the facet quality standard is used to instruct the first communication device to determine N parent facets from L parent facets, where L is greater than or equal to N, and L is an integer, and the information of the L parent facets is used to characterize the target object as a whole.

[0206] As used in this specification, the terms "component," "module," "system," and the like are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. By way of illustration, both an application running on a computing device and a computing device can be a component. One or more components can reside in a process and / or an execution thread, and a component can be located on a computer and / or distributed between two or more computers. In addition, these components can be executed from various computer-readable media having various data structures stored thereon. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component on a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0207] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0208] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0209] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0210] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0211] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0212] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0213] 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 data transmission, characterized in that: The method is applied to a first communication device, and the method includes: Acquire information of N parent facets and information of M child facets, wherein the information of the N parent facets is used to characterize a part or the whole of a target object, and the information of the M child facets is used to characterize the whole of the target object, and N and M are positive integers; Determining, from the M sub-surfaces, a sub-surface associated with each of the N parent surfels according to an association criterion between the parent surfel and the sub-surface; The information of the child bin associated with each parent bin of the N parent bins is sent to the second communication device.

2. The method according to claim 1, characterized in that The association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a sub-surface associated with the N parent surfels among the M sub-surfaces.

3. The method according to claim 2, characterized in that The information of the N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

4. The method according to claim 2 or 3, characterized in that: Before determining, from the M sub-surfaces, a sub-surface associated with each of the N parent surfels according to an association criterion between the parent surfel and the sub-surface, the method further comprises: The association criteria is received from the second communication device.

5. The method according to any one of claims 2 to 4, characterized in that Before obtaining the information of the N parent facets, the method further includes: Sending information of L parent facets to the second communication device, where the information of the L parent facets is used to characterize the entirety of the target object, where L is greater than or equal to N and is an integer; The obtaining of information of N parent facets includes: Indication information is received from the second communication device, where the indication information is used to indicate the N parent facets.

6. The method according to any one of claims 2 to 4, characterized in that Before obtaining the information of the N parent facets, the method further includes: receiving a bin quality metric from the second communication device; The obtaining of information of N parent facets includes: According to the facet quality standard, the N parent facets are determined from L parent facets, information of the L parent facets is used to characterize the entirety of the target object, and L is greater than or equal to N, and L is an integer.

7. The method according to any one of claims 2 to 6, characterized in that The N parent planes include a first parent plane, the M child planes include a first child plane, and determining, from the M child planes, a child plane associated with each parent plane of the N parent planes according to an association criterion between the parent plane and the child plane, comprises: Determine a first point set and a second point set, wherein the first point set includes sampling points sampled from the first parent surface element, and the second point set includes sampling points sampled from the first child surface element; determining a chamfer distance between the first point set and the second point set; When the chamfer distance is less than or equal to a first threshold, the first sub-surface element is associated with the first parent surface element, and the first threshold belongs to the association parameter threshold.

8. The method according to claim 7, characterized in that The sampling points sampled from the first parent surface element include vertices of the first parent surface element, and the sampling points sampled from the first sub-surface element include vertices of the first sub-surface element.

9. The method according to any one of claims 2 to 6, characterized in that The N parent planes include a first parent plane, the M child planes include a first child plane, and determining, from the M child planes, a child plane associated with each parent plane of the N parent planes according to an association criterion between the parent plane and the child plane, comprises: Determine N clusters of point clouds, wherein a first point cloud in the N clusters of point clouds corresponds to a first parent surface element in the N parent surface elements; Projecting the first point cloud onto the first subsurface; When a first condition is met, the first sub-surface element is associated with the first parent surface element, and the first condition is any one of the following: the number of points of the first point cloud projected onto the first sub-surface element is greater than or equal to a second threshold, or the density of the points of the first point cloud projected onto the first sub-surface element is greater than or equal to a third threshold, or the first point cloud is associated with the first parent surface element. The maximum value of the distance between the sub-surface elements is less than or equal to a fourth threshold, and the second threshold, the third threshold or the fourth threshold belongs to the association parameter threshold.

10. A method for data transmission, characterized in that: The method is applied to a second communication device, and the method includes: Sending indication information to the first communication device, where the indication information is used to indicate N parent facets, where information of the N parent facets is used to characterize a part or the whole of a target object, where N is a positive integer; Information is received from child bins associated with each of the N parent bins.

11. The method according to claim 10, characterized in that Prior to receiving information from a child bin associated with each of the N parent bins, the method further comprises: An association criterion is sent to the first communication device, where the association criterion includes an association parameter threshold, where the association parameter threshold is used to determine whether there is a child facet associated with the N parent facets.

12. The method according to claim 10 or 11, characterized in that: The information of the N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

13. The method according to any one of claims 10 to 12, characterized in that Before sending the indication information to the first communication device, the method further includes: receiving information of L parent facets from the first communication device, where the information of the L parent facets is used to characterize the entirety of the target object, where L is greater than or equal to N and is an integer; According to the information of the L parent facets, indication information is determined, where the indication information is used to indicate the N parent facets.

14. The method according to claim 13, characterized in that Before sending the indication information to the first communication device, the method further includes: A facet quality standard is sent to the first communication device, where the facet quality standard is used to instruct the first communication device to determine the N parent facets from L parent facets, where L is greater than or equal to N and L is an integer, and information of the L parent facets is used to characterize the target object as a whole.

15. A data transmission device, characterized in that: The device comprises: an acquisition unit, used to acquire information of N parent facets and information of M child facets, wherein the information of the N parent facets is used to characterize a part or the whole of a target object, and the information of the M child facets is used to characterize the whole of the target object, wherein N and M are positive integers; a determining unit, configured to determine, from the M sub-surfaces, a sub-surface associated with each of the N parent surfels according to an association criterion between the parent surfel and the sub-surface; A sending unit is used to send information of a sub-surface associated with each parent surface of the N parent surfaces to a second communication device.

16. The device according to claim 15, characterized in that The association criterion includes an association parameter threshold, and the association parameter threshold is used to determine whether there is a sub-surface associated with the N parent surfels among the M sub-surfaces.

17. The device according to claim 16, characterized in that The information of the N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

18. The device according to claim 16 or 17, characterized in that Before the determining unit determines, from the M sub-surfaces, a sub-surface associated with each parent surfel in the N parent surfels according to an association criterion between the parent surfel and the sub-surface, the acquiring unit is further configured to: The association criteria is received from the second communication device.

19. The device according to any one of claims 16 to 18, characterized in that Before the acquiring unit acquires the information of the N parent facets, the sending unit is further used to: send information of the L parent facets to the second communication device, where the information of the L parent facets is used to characterize the entirety of the target object, where L is greater than or equal to N, and is an integer; The acquiring unit is specifically configured to: receive indication information from the second communication device, where the indication information is used to indicate the N parent facets.

20. The device according to any one of claims 16 to 18, characterized in that Before the acquiring unit acquires the information of the N parent facets, the acquiring unit is further used to: receive a facet quality standard from the second communication device; The acquisition unit is specifically configured to: determine the N parent facets from L parent facets according to the facet quality standard, wherein the L The information of the parent face elements is used to characterize the entire target object, the L is greater than or equal to the N, and the L is an integer.

21. The device according to any one of claims 16 to 20, characterized in that The N parent panes include a first parent pane, the M sub-panels include a first sub-panel, and the determining unit is specifically configured to: Determine a first point set and a second point set, wherein the first point set includes sampling points sampled from the first parent surface element, and the second point set includes sampling points sampled from the first child surface element; determining a chamfer distance between the first point set and the second point set; When the chamfer distance is less than or equal to a first threshold, the first sub-surface element is associated with the first parent surface element, and the first threshold belongs to the association parameter threshold.

22. The device according to claim 21, characterized in that The sampling points sampled from the first parent surface element include vertices of the first parent surface element, and the sampling points sampled from the first sub-surface element include vertices of the first sub-surface element.

23. The device according to any one of claims 16 to 20, characterized in that The N parent panes include a first parent pane, the M sub-panels include a first sub-panel, and the determining unit is specifically configured to: Determine N clusters of point clouds, wherein a first point cloud in the N clusters of point clouds corresponds to a first parent surface element in the N parent surface elements; Projecting the first point cloud onto the first subsurface; The first sub-surface element is associated with the first parent surface element when a first condition is satisfied, and the first condition is any one of the following: the number of points of the first point cloud projected onto the first sub-surface element is greater than or equal to a second threshold, or the density of the points of the first point cloud projected onto the first sub-surface element is greater than or equal to a third threshold, or the maximum distance between the first point cloud and the first sub-surface element is less than or equal to a fourth threshold, and the second threshold, the third threshold or the fourth threshold belongs to the association parameter threshold.

24. A data transmission device, characterized in that: The device comprises: a sending unit, configured to send indication information to the first communication device, wherein the indication information is used to indicate N parent facets, and information of the N parent facets is used to characterize a part or the whole of a target object, where N is a positive integer; A receiving unit is configured to receive information from a child bin associated with each of the N parent bins.

25. The device according to claim 24, characterized in that Before the receiving unit receives the information from the sub-surface associated with each of the N parent-surfaces, the sending unit is further configured to: An association criterion is sent to the first communication device, where the association criterion includes an association parameter threshold, where the association parameter threshold is used to determine whether there is a child facet associated with the N parent facets.

26. The device according to claim 24 or 25, characterized in that The information of the N parent face elements includes at least one of the following information: material information and texture information; the information of the child face elements associated with each parent face element in the N parent face elements includes at least one of the following information: material information, texture information, dielectric constant, magnetic permeability, scattering coefficient and face element quality.

27. The device according to any one of claims 24 to 26, characterized in that Before the sending unit sends the indication information to the first communication device, the receiving unit is further used to: receive information of L parent facets from the first communication device, where the information of the L parent facets is used to characterize the entirety of the target object, where L is greater than or equal to N, and L is an integer; The device also includes: A determining unit is used to determine indication information according to information of the L parent facets, where the indication information is used to indicate the N parent facets.

28. The device according to claim 27, characterized in that Before the sending unit sends the indication information to the first communication device, the sending unit is further configured to: A facet quality standard is sent to the first communication device, where the facet quality standard is used to instruct the first communication device to determine the N parent facets from the L parent facets, where information of the L parent facets is used to characterize the entirety of the target object, where L is greater than or equal to N, and L is an integer.

29. A communication device, characterized in that: include: Memory, for storing computer instructions; A processor, configured to execute computer instructions stored in the memory, so that the apparatus executes the method according to any one of claims 1 to 9, or executes the method according to any one of claims 10 to 14.

30. A chip, characterized in that: The method comprises a processor configured to execute the method according to any one of claims 1 to 9 or the method according to any one of claims 10 to 14.

31. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the instructions are executed on a computer, the device executes the method according to any one of claims 1 to 9, or executes the method according to any one of claims 10 to 14.

32. A computer program product, characterized in that The computer program product comprises a computer program or instructions, and when the computer program or instructions are executed by a computer, the device executes the method according to any one of claims 1 to 9, or executes the method according to any one of claims 10 to 14.

33. A communication system, characterized in that: include: A first communication device, configured to perform the method according to any one of claims 1 to 9; A second communication device, configured to execute the method according to any one of claims 10 to 14.

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