Data transmission method, apparatus and system

Abstract

The present application relates to the field of wireless communication and sensing. Provided are a data transmission method, apparatus and system. The method comprises: acquiring information of M facets and information of N points, wherein the information of the M facets and the information of the N points are used for representing the entirety of a target object, N and M being positive integers; on the basis of a point cloud screening condition, screening the N points to obtain K points, wherein K is less than N and K is a positive integer; and sending to a second communication apparatus the information of the M facets and information of the K points. On the basis of the method, the transmission overheads for sending sensing information can be effectively controlled, and some detail features of the target object can also be retained by means of the information of the K points, such that the second communication apparatus can perform relatively accurate sensing on the target object.

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 use communication base stations and user devices as sensing nodes to image target scenes of interest and obtain imaging point clouds. However, the number of points in urban scene point clouds is usually over 10 million, and the data volume is large, which places high demands on storage and transmission. If the points in the point cloud are too densely distributed, the transmission cost and air interface resource overhead will be high during the transmission of point cloud information. Therefore, the industry has proposed reconstructing point clouds into surface element models with clear geometric topological relationships, which can reduce transmission costs and save air interface resource overhead. However, the overall surface element information is difficult to represent some point cloud details.

[0003] In view of this, a data transmission method that takes into account both the overall information of the surface element and the detailed information of the point cloud is urgently needed.

[0004] Summary of the Invention

[0005] The present application provides a method, device and system for data transmission, which can add corresponding part of point cloud information on the basis of determined facet information used to characterize the target object to make up for the part that is difficult to cover by the facet information, and send the facet information and corresponding part of point cloud information to a control node to control the storage space occupied by the facet information and point cloud information and the transmission overhead of transmitting the facet information and point cloud information, and also ensure the accuracy of the control node in identifying the target object based on the facet information and corresponding part of the point cloud information.

[0006] In a first aspect, a method for data transmission is provided, which is applied to a first communication device, the method comprising: obtaining information of M face elements and information of N points, wherein the information of the M face elements and the information of the N points are respectively used to characterize the entirety of the target object, and N and M are positive integers; according to a point cloud screening condition, screening out K points from the N points, where K is less than N and K is a positive integer; and sending the information of the M face elements and the information of the K points to a second communication device.

[0007] For example, the point cloud formed by the N points may be a dense point cloud.

[0008] It should be understood that the above point cloud screening condition is a constraint condition, which is used to instruct the first communication device to screen out point clouds that can make up for the detail features that cannot be covered by the M surface elements and are used to characterize the target object.

[0009] For example, the above point cloud screening conditions may be stored locally in the first communication device, or may be obtained from outside the first communication device.

[0010] Based on the above technical solution, the transmission overhead of sending perception information can be effectively controlled, and some detailed features of the target object can be retained through the information of K points, so that the second communication device can perceive the target object relatively accurately. Compared with the transmission of a single sparse point cloud, the point cloud selected by this solution can further depict the details of the target object. Compared with the transmission of a single dense point cloud, the surface element and point cloud information transmitted by this solution occupies less storage space and transmission bandwidth. Compared with the transmission of a single surface element, this solution further preserves the imaging results around the surface element and retains more isolated point clouds that are difficult to cover with reconstructed surface elements.

[0011] In combination with the first aspect, in certain implementations of the first aspect, before filtering out K points from N points according to the point cloud filtering condition, the point cloud filtering condition is received from the second communication device.

[0012] Based on the above technical solution, the point cloud filtering conditions are sent to the first communication device through the second communication device, so that the first communication device can filter N points based on the point cloud filtering conditions. It only needs to send the information of the filtered points, thereby avoiding the direct transmission of N points and causing a large transmission overhead.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the N points include a first point, the point cloud filtering condition is used to indicate a first distance interval and / or a second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, and M distances between the first point and the M surface elements are determined; when at least one of the M distances is within the first distance interval, the first point is filtered out from the N points; or, when the minimum value of the M distances is within the second distance interval, the first point is filtered out from the N points.

[0014] For example, in some possible embodiments, the upper and lower limits of the first or second distance intervals are not fixed, but can be adjusted based on different target scenes. Taking the point cloud screening condition as the second communication device as an example, before the second communication device receives the information of the M face elements and the K points, the second communication device will obtain the complexity of the current perception scene. The higher the complexity of the perception scene, the more precise the identification of objects in the target scene needs to be. In this case, the upper limit of the first distance interval will be larger and the lower limit will be smaller. Correspondingly, the lower the complexity of the perception scene, the less precise the identification of objects in the target scene needs to be. In this case, the upper limit of the first distance interval will be smaller and the lower limit will be larger. Of course, one of the upper or lower limit can also be adjusted. Similarly, the higher the complexity of the perception scene, the smaller the lower limit of the second distance interval, and the lower the complexity of the perception scene, the larger the lower limit of the second distance interval.

[0015] Based on the above technical solution, through point cloud screening conditions, partial point cloud information that is difficult to replace by facet information is screened out from the overall point cloud information, which helps the second communication device to perceive and identify the target object more accurately based on the facet information and the additional partial point cloud information.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the N points include a first point, and the point cloud screening condition is used to indicate an energy interval and determine the energy corresponding to the first point; when the energy corresponding to the first point is within the energy interval, the first point is screened out from the N points.

[0017] Based on the above technical solution, through point cloud screening conditions, partial point cloud information that is difficult to replace by facet information is screened out from the overall point cloud information, which helps the second communication device to perceive and identify the target object more accurately based on the facet information and the additional partial point cloud information.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the N points include a first point, and the point cloud filtering condition is used to indicate an energy interval and a first distance interval and / or a second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, and the M distances between the first point and the M surface elements and the energy corresponding to the first point are determined; if at least one of the M distances is within the first distance interval and the energy corresponding to the first point is within the energy interval, the first point is filtered out from the N points, or, if the minimum value of the M distances is within the second distance interval and the energy corresponding to the first point is within the energy interval, the first point is filtered out from the N points.

[0019] Based on the above technical solution, through point cloud screening conditions, partial point cloud information that is difficult to replace by facet information is screened out from the overall point cloud information, which helps the second communication device to perceive and identify the target object more accurately based on the facet information and the additional partial point cloud information.

[0020] In combination with the first aspect, in certain implementations of the first aspect, when the first point has been screened out and the distance between the first point and the first surface element among the M surface elements is within a first distance interval, information of the first point is associated with information of the first surface element.

[0021] Based on the above technical solution, the information of the first point is associated with the information of the first surface element. After the second communication device receives the information of the first surface element, the information of the first point associated with the first surface element can be directly determined, and then the information of the point in the area corresponding to the first surface element can be directly determined.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the information of the K points includes coordinates of the K points, energies corresponding to the K points, and normal directions corresponding to the K points.

[0023] Based on the above technical solution, the characteristics of the target object can be accurately described through the information of K points including the above content.

[0024] In combination with the first aspect, in certain implementations of the first aspect, when L points out of the K points are associated with at least one surface element out of the M surface elements, the information of the K points includes the distribution parameters of the distances between the L points and the associated surface elements, the distribution parameters of the energies corresponding to the L points, and the distribution parameters of the normal directions corresponding to the L points.

[0025] Based on the above technical solution, the characteristics of the target object can be accurately described through the information of K points including the above content, and the information of K points is not limited to one representation method, which increases the flexibility of the solution.

[0026] In a second aspect, a method for data transmission is provided, which is applied to a second communication device, and the method includes: sending point cloud filtering conditions to a first communication device; receiving information of M face elements and information of K points from the first communication device, wherein the information of the M face elements is used to characterize the target object as a whole, and the K points are screened out from N points by the first communication device according to the point cloud filtering conditions, and the information of the N points is used to characterize the target object as a whole, and M and N are positive integers.

[0027] In combination with the second aspect, in certain implementations of the second aspect, the point cloud filtering condition is used to indicate a first distance interval and / or a second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, the K points include the first point, the distance between the first point and at least one of the M surface elements is within the first distance interval, or the minimum value of the distances between the first point and the M surface elements is within the second distance interval.

[0028] In combination with the second aspect, in certain implementations of the second aspect, the point cloud screening condition is used to indicate an energy interval, and the energy corresponding to any point among the K points is within the energy interval.

[0029] In combination with the second aspect, in certain implementations of the second aspect, the point cloud screening condition is used to indicate the energy interval and the first distance interval and / or the second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, the K points include the first point, the energy corresponding to the first point is within the energy interval, and the distance between the first point and at least one of the M surface elements is within the first distance interval, or the minimum value of the distances between the first point and the M surface elements is within the second distance interval.

[0030] In combination with the second aspect, in certain implementations of the second aspect, the K points include a first point, the M surface elements include the first surface element, and when the distance between the first point and the first surface element is in a first distance interval, information about the first point is associated with information about the first surface element.

[0031] In combination with the second aspect, in certain implementations of the second aspect, the information of the K points includes the coordinates of the K points, the energies corresponding to the K points, and the normal directions corresponding to the K points.

[0032] In combination with the second aspect, in certain implementations of the second aspect, when L points out of the K points are associated with at least one face element out of the M face elements, the information of the K points includes the distribution parameters of the distances between the L points and the associated face elements, the distribution parameters of the energies corresponding to the L points, and the distribution parameters of the normal directions corresponding to the L points.

[0033] In a third aspect, a data transmission device is provided, which includes: an acquisition unit for acquiring information of M face elements and information of N points, where the information of the M face elements and the information of the N points are respectively used to characterize the whole of the target object, and N and M are positive integers; an operation unit for screening out K points from the N points according to a point cloud screening condition, where K is less than N and K is a positive integer; and a sending unit for sending the information of the M face elements and the information of the K points to a second communication device.

[0034] In combination with the third aspect, in certain implementations of the third aspect, the above-mentioned device also includes a receiving unit, which is used to receive the point cloud filtering conditions from the second communication device before the operating unit filters out K points from N points according to the point cloud filtering conditions.

[0035] In combination with the third aspect, in certain implementations of the third aspect, the above-mentioned N points include a first point, and the above-mentioned point cloud filtering condition is used to indicate a first distance interval and / or a second distance interval, wherein the lower limit of the second distance interval is greater than the upper limit of the first distance interval, and the above-mentioned operation unit is specifically used to: determine M distances between the first point and the M surface elements respectively; when at least one of the M distances is within the first distance interval, filter out the first point from the N points; or, when the minimum value of the M distances is within the second distance interval, filter out the first point from the N points.

[0036] In combination with the third aspect, in certain implementations of the third aspect, the above-mentioned N points include a first point, the above-mentioned point cloud screening condition is used to indicate an energy range, and the above-mentioned operation unit is specifically used to: determine the energy corresponding to the first point; and when the energy corresponding to the first point is within the energy range, screen out the first point from the N points.

[0037] In combination with the third aspect, in certain implementations of the third aspect, the above-mentioned N points include a first point, and the above-mentioned point cloud filtering condition is used to indicate an energy interval and a first distance interval and / or a second distance interval, wherein the lower limit of the second distance interval is greater than the upper limit of the first distance interval, and the above-mentioned operation unit is specifically used to: determine the M distances between the first point and the M surface elements and the energy corresponding to the first point; if at least one of the M distances is within the first distance interval and the energy corresponding to the first point is within the energy interval, the first point is filtered out from the N points, or, if the minimum value of the M distances is within the second distance interval and the energy corresponding to the first point is within the energy interval, the first point is filtered out from the N points.

[0038] In combination with the third aspect, in certain implementations of the third aspect, when the first point has been screened out by the above-mentioned operation unit and the distance between the first point and the first surface element among the M surface elements is within the first distance interval, the above-mentioned operation unit is further used to: associate the information of the first point with the information of the first surface element.

[0039] In combination with the third aspect, in certain implementations of the third aspect, the information of the K points includes the coordinates of the K points, the energies corresponding to the K points, and the normal directions corresponding to the K points.

[0040] In combination with the third aspect, in certain implementations of the third aspect, when L points among the above-mentioned K points are associated with at least one surface element among the M surface elements, the information of the above-mentioned K points includes the distribution parameters of the distances between the L points and the associated surface elements, the distribution parameters of the energies corresponding to the L points, and the distribution parameters of the normal directions corresponding to the L points.

[0041] In a fourth aspect, a data transmission device is provided, which includes: a sending unit for sending point cloud filtering conditions to a first communication device; a receiving unit for receiving information of M face elements and information of K points from the first communication device, wherein the information of the M face elements is used to characterize the target object as a whole, and the K points are screened out from N points by the first communication device according to the point cloud filtering conditions, and the information of the N points is used to characterize the target object as a whole, and M and N are positive integers.

[0042] In combination with the fourth aspect, in certain implementations of the fourth aspect, the above-mentioned point cloud screening condition is used to indicate a first distance interval and / or a second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, the K points include a first point, and the distance between the first point and at least one of the M surface elements is within the first distance interval, or the minimum value of the distances between the first point and the M surface elements is within the second distance interval.

[0043] In combination with the fourth aspect, in certain implementations of the fourth aspect, the point cloud screening condition is used to indicate an energy interval, and the energy corresponding to any one of the K points is within the energy interval.

[0044] In combination with the fourth aspect, in certain implementations of the fourth aspect, the point cloud screening condition is used to indicate the energy interval and the first distance interval and / or the second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, the above-mentioned K points include the first point, the energy corresponding to the first point is within the energy interval, and the distance between the first point and at least one of the M surface elements is within the first distance interval, or the minimum value of the distances between the first point and the M surface elements is within the second distance interval.

[0045] In combination with the fourth aspect, in certain implementations of the fourth aspect, the above-mentioned K points include a first point, the above-mentioned M surface elements include the first surface element, and when the distance between the first point and the first surface element is in a first distance interval, the information of the first point is associated with the information of the first surface element.

[0046] In combination with the fourth aspect, in certain implementations of the fourth aspect, the information of the K points includes the coordinates of the K points, the energies corresponding to the K points, and the normal directions corresponding to the K points.

[0047] In combination with the fourth aspect, in certain implementations of the fourth aspect, when L points among the above-mentioned K points are associated with at least one surface element among the M surface elements, the information of the above-mentioned K points includes the distribution parameters of the distances between the L points and the associated surface elements, the distribution parameters of the energies corresponding to the L points, and the distribution parameters of the normal directions corresponding to the L points.

[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] 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.

[0052] 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.

[0053] 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

[0054] FIG1 is a schematic diagram of a communication system 100 proposed in an embodiment of the present application;

[0055] FIG2 is a flow chart of a data transmission method 200 proposed in an embodiment of the present application;

[0056] FIG3 is a schematic diagram of the distribution of the distance relationship between a point and a bin proposed in an embodiment of the present application;

[0057] FIG4 is a flow chart of a method 400 for selecting points according to an embodiment of the present application;

[0058] FIG5 is a flow chart of another method 500 for screening points proposed in an embodiment of the present application;

[0059] FIG6 is a flow chart of another method 600 for screening points proposed in an embodiment of the present application;

[0060] FIG7 is a flow chart of another method 700 for screening points proposed in an embodiment of the present application;

[0061] FIG8 is a flow chart of another method 800 for screening points proposed in an embodiment of the present application;

[0062] FIG9 is a flow chart of another method 900 for screening points proposed in an embodiment of the present application;

[0063] FIG10 is a flow chart of another method 1000 for screening points proposed in an embodiment of the present application;

[0064] FIG11 is a schematic diagram of a data format combining point cloud information and facet information proposed in an embodiment of the present application;

[0065] FIG12 is a flow chart of another method 1200 for data transmission proposed in an embodiment of the present application;

[0066] FIG13 is a schematic diagram of a data transmission device 1300 proposed in an embodiment of the present application;

[0067] FIG14 is a schematic diagram of another data transmission device 1400 proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0068] The technical solution in this application will be described below with reference to the accompanying drawings.

[0069] 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.

[0070] 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.

[0071] 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).

[0072] 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.

[0073] 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.

[0074] 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.

[0075] The integrated communication and perception system uses communication base stations and user devices as perception nodes to image the target scene of interest and obtain an imaging point cloud. However, the number of points in the urban scene point cloud is usually over 10 million, and the data volume is large, which places high demands on storage and transmission. To reduce the air interface resource overhead of transmitting point clouds, the industry has proposed a series of point cloud data downsampling methods to control the transmission cost and air interface resource overhead of transmitting point clouds. For example, the raw point cloud data is processed by voxel downsampling, uniform downsampling, geometric downsampling, or random downsampling before transmission.

[0076] Although transmitting dense point clouds consumes significant storage resources and bandwidth, representing target objects through dense point clouds can effectively characterize target areas of interest and depict detailed features. However, downsampling a dense point cloud to a sparse point cloud only represents the outline of the target object and struggles to capture the rich details of the target. Furthermore, the downsampling process may discard interesting point cloud data.

[0077] In addition, the industry has proposed a method for representing target objects using meshes. This involves reconstructing the original point cloud into a geometric mesh model before transmitting it. A mesh is also known as a patch, mesh, triangle, or polygon. After obtaining the imaging point cloud, the sensing node can use a mesh reconstruction algorithm to reconstruct a mesh set with a clear topological structure: Mesh = {V, E}, where V and E represent the coordinates of multiple mesh vertices and the topological connectivity between the vertices, respectively.

[0078] However, in practical applications, the raw point cloud data often contains noise, outliers, and uneven and fluctuating point cloud distribution. This can easily result in some points of interest not being covered by the surface element when reconstructing the surface element model. Furthermore, when the field of view of the sensing node is limited, it is difficult to reconstruct the point cloud of interest in a local area into a complete surface element.

[0079] In view of this, an embodiment of the present application proposes a method, device and system for data transmission, wherein the method can add the corresponding part of the point cloud information on the basis of the determined facet information used to characterize the target object to make up for the part that is difficult to cover by the facet information, and send the facet information and the corresponding part of the point cloud information to the control node to control the storage space occupied by the facet information and the point cloud information and the transmission overhead of transmitting the facet information and the point cloud information, and also ensure the accuracy of the control node in identifying the target object based on the facet information and the corresponding part of the point cloud information.

[0080] 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.

[0081] The communication system 100 includes: a transmitting node, a receiving node and a control node.

[0082] The transmitting node is used to transmit a sensing signal to the moving target, and the sensing signal is also called a transmitting signal.

[0083] The receiving node is used to receive the echo signal, which is the echo signal 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. The receiving node includes a processor for performing signal processing on the echo signal to determine the corresponding facet information and point cloud information, and to filter out part of the point cloud information that meets the point cloud filtering conditions from the point cloud information, and send the facet information and the filtered point cloud information to the control node.

[0084] In some possible embodiments, the above-mentioned point cloud screening information may be stored locally at the receiving node, or may be sent by the control node.

[0085] The control node is used to receive the above-mentioned facet information and filtered point cloud information, and perceive and identify the target object based on the facet information and the filtered point cloud information, determine the type, material, motion state, etc. of the target object, and then generate corresponding downstream decisions for the scene.

[0086] Based on the above 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 be a receiving node in the communication system 100 described above.

[0088] S210: Obtain information of M facets and information of N points.

[0089] The information of M face elements and the information of N points are respectively used to represent the entire target object, and N and M are positive integers.

[0090] It should be understood that the information of the M face elements belongs to the face data, and the information of the N points belongs to the point cloud data.

[0091] In some possible embodiments, the point cloud to which the N points belong may be a dense point cloud.

[0092] S220: Filter out K points from N points according to the point cloud filtering condition.

[0093] Wherein, K is less than N, and K is a positive integer.

[0094] It should be understood that the above point cloud screening condition is a constraint condition, which is used to instruct the first communication device to screen out point clouds that can make up for the detail features that cannot be covered by the M surface elements and are used to characterize the target object.

[0095] S230: Send the information of the M bins and the information of the K points to the second communication device.

[0096] Among them, the information of M face elements and the information of K points belong to perception information. After receiving the perception information, the control node can perceive and identify the target object.

[0097] It should be understood that the transmission overhead of transmitting the information of M surface elements should be less than the N points that constitute the dense point cloud, and the above K points are only a part of the N points. Therefore, the transmission resources occupied by transmitting the information of M surface elements and K points are less than the transmission resources occupied by directly transmitting the information of N points.

[0098] Based on the above technical solution, the transmission overhead of sending perception information can be effectively controlled, and some detailed features of the target object can be retained through the information of K points, so that the second communication device can perceive the target object relatively accurately. Compared with the transmission of a single sparse point cloud, the point cloud selected by this solution can further depict the details of the target object. Compared with the transmission of a single dense point cloud, the surface element and point cloud information transmitted by this solution occupies less storage space and transmission bandwidth. Compared with the transmission of a single surface element, this solution further preserves the imaging results around the surface element and retains more isolated point clouds that are difficult to cover with reconstructed surface elements.

[0099] In some possible embodiments, the point cloud screening conditions may be stored locally in the first communication device, or may be sent via the second communication device, so that the first communication device acquires the point cloud screening conditions.

[0100] In some possible embodiments, when the above-mentioned point cloud filtering conditions are sent by the second communication device, the second communication device can carry the point cloud filtering conditions through indication information to instruct the first communication device to filter the points in the point cloud according to the point cloud filtering conditions, and then feedback perception information that includes both facet information and point information.

[0101] Based on the above technical solution, the point cloud filtering conditions are sent to the first communication device through the second communication device, so that the first communication device can filter N points based on the point cloud filtering conditions. It only needs to send the information of the filtered points, thereby avoiding the direct transmission of N points and causing a large transmission overhead.

[0102] In some possible embodiments, when the above-mentioned point cloud filtering conditions are stored locally in the first communication device, the second communication device can directly send an instruction message to the first communication device, instructing the first communication device through the instruction message to filter the points in the point cloud based on the locally stored point cloud filtering conditions, and then feedback perception information that includes both facet information and point information.

[0103] In some possible embodiments, the above-mentioned indication information can be represented by encoded signaling. For example, in the existing technical solution, if the first communication device is instructed to transmit only point cloud information, the indication information may be 10; if the first communication device is instructed to transmit only facet information, the indication information may be 01; and in the embodiment of the present application, if the first communication device is instructed to transmit facet information and point cloud information filtered out based on point cloud filtering conditions, the indication information may be 11.

[0104] In some possible embodiments, the above-mentioned point cloud screening conditions are used to indicate a first distance interval and / or a second distance interval, wherein the lower limit of the second distance interval is greater than the upper limit of the first distance interval. It should be understood that the first distance interval can be used to screen out points that are relatively close to M face elements among N points. These points may constitute a portion of the point cloud with uneven distribution or large fluctuations. Generally, this portion of the point cloud is difficult to accurately replace with face elements. The second distance interval can be used to screen out points that are relatively far from M face elements among N points. These points may constitute an outlier point cloud or an isolated point cloud that can represent the detailed information of the target object, that is, a point cloud with a relatively dispersed distribution.

[0105] Typically, the distances between the N points and the specified bin satisfy a Gaussian distribution, and the number of points screened out based on the first distance interval is greater than the number of points screened out based on the second distance interval.

[0106] FIG3 is a distribution diagram of the distance relationship between a point and a surface element proposed in an embodiment of the present application.

[0107] As shown in Figure 3, the horizontal axis of the image is the distance between the point and the surface element, and the vertical axis is the corresponding number of points. The first distance interval is usually the partial interval near the middle of the horizontal axis of the distribution diagram. The corresponding points in this interval include points distributed outside the surface element, that is, these points are difficult to accurately replace with the surface element. The second distance interval is usually the last interval of the distribution diagram. The corresponding points in this interval are not only distributed outside the surface element, but also very far away from the surface element. In this case, these points are likely to be outliers or isolated points. Isolated points are not necessarily noise points, but may also be points that can characterize the detailed features of the target object. Therefore, it is also necessary to obtain information about isolated points.

[0108] In some possible embodiments, the upper and lower limits of the first or second distance intervals are not fixed but can be adjusted based on different target scenes. Taking the point cloud screening condition as an example, before the second communication device receives the information of the M face elements and the K points, it will obtain the complexity of the current perception scene. The higher the complexity of the perception scene, the more refined the identification of objects in the target scene. Therefore, the upper limit of the first distance interval will be larger and the lower limit will be smaller. Correspondingly, the lower the complexity of the perception scene, the less refined the identification of objects in the target scene. Therefore, the upper limit of the first distance interval will be smaller and the lower limit will be larger. Of course, either the upper limit or the lower limit can also be adjusted. Similarly, the higher the complexity of the perception scene, the lower the lower limit of the second distance interval, and the lower the complexity of the perception scene, the higher the lower limit of the second distance interval. The complexity of the target scene is related to the number and distribution of target objects in the target scene.

[0109] In some possible embodiments, if the complexity of the target scene is relatively low, the above-mentioned point cloud screening conditions may only include one of the first distance interval and the second distance interval; if the complexity of the target scene is relatively high, the above-mentioned point cloud screening conditions may include both the first distance interval and the second distance interval.

[0110] In some possible embodiments, the point cloud screening condition may be used to indicate an energy range. If the energy corresponding to a point among the N points is within the energy range, the point needs to be screened out.

[0111] It should be understood that each point in the point cloud image can carry the energy information corresponding to the point, and the energy information can be used to characterize the detailed features of the target object, such as the surface material of the target object, and thus can be used to distinguish different types of target objects in the target scene. Therefore, in the corresponding perception scene, assuming that the target objects in the scene may be vehicles and pedestrians, and the energy corresponding to the point reflected by the vehicle and the energy corresponding to the point reflected by the pedestrian are different, then it is only necessary to filter out the points that can distinguish vehicles and pedestrians from the point cloud image, and the points that distinguish vehicles and pedestrians can be determined by filtering through the above-mentioned energy range, and the energy corresponding to the point reflected by the vehicle and the energy corresponding to the point reflected by the pedestrian should be within the energy range, wherein the energy corresponding to the point reflected by the vehicle and the energy corresponding to the point reflected by the pedestrian can be pre-set by statistical methods or pre-experimental methods.

[0112] In some possible embodiments, the above point cloud screening conditions may also be used to indicate energy intervals and first and / or second distance intervals. If a point among the N points satisfies the conditions corresponding to both the energy interval and the distance interval, the point needs to be screened out.

[0113] For ease of understanding, the following detailed description is given by taking the example of determining whether the first point among N points needs to be screened out.

[0114] Example 1: The point cloud filtering condition is used to indicate a first distance interval, and the M surface elements include the first surface element.

[0115] FIG4 is a flow chart of a method 400 for selecting points according to an embodiment of the present application.

[0116] S410: Determine M distances between the first point and the M surface elements.

[0117] S420: If at least one of the M distances is within the first distance interval, select a first point from the N points.

[0118] It should be understood that if the distance is not within the first distance interval, the distance between the first point and the second bin of the M bins can be calculated, and then the distance between the first point and the second bin is determined to meet the point cloud screening condition. This process is repeated. If the distance between the first point and each of the M bins does not meet the point cloud screening condition, the first point does not need to be screened out.

[0119] Example 2: The point cloud filter condition is used to indicate the second distance interval.

[0120] FIG5 is a flow chart of another method 500 for screening points proposed in an embodiment of the present application.

[0121] S510: Determine M distances between the first point and the M surface elements respectively.

[0122] S520: When the minimum value of the M distances is within the second distance interval, select a first point from the N points.

[0123] It should be understood that if the distance is not within the second distance interval, the distance between the first point and the second bin of the M bins can be calculated, and then a determination can be made as to whether the distance between the first point and the second bin meets the point cloud screening condition. This process is repeated. If the distance between the first point and each of the M bins does not meet the point cloud screening condition, the first point does not need to be screened out.

[0124] Example 3: The point cloud filter condition is used to indicate a first distance interval and a second distance interval.

[0125] FIG6 is a flow chart of another method 600 for screening points proposed in an embodiment of the present application.

[0126] S610: Determine M distances between the first point and the M surface elements.

[0127] S620: When at least one of the M distances is within the first distance interval, select the first point from the N points; or when the minimum value of the M distances is within the second distance interval, select the first point from the N points.

[0128] It should be understood that since the first distance interval and the second distance interval do not intersect, the first point may satisfy at most one of the two distance conditions in S520 or may not satisfy either distance condition in S520. Therefore, if it is determined that the first point satisfies one of the distance conditions, it is not necessary to determine whether the first point satisfies the other distance condition.

[0129] Example 4: Point cloud filter conditions are used to indicate energy intervals.

[0130] FIG7 is a flow chart of another method 700 for screening points proposed in an embodiment of the present application.

[0131] S710: Determine the energy corresponding to the first point.

[0132] S720: When the energy corresponding to the first point is within the energy interval, select the first point from the N points.

[0133] Example 5: The point cloud filtering condition is used to indicate the energy interval and the first distance interval.

[0134] FIG8 is a flow chart of another method 800 for screening points proposed in an embodiment of the present application.

[0135] S810: Determine M distances between the first point and the M bins and the energy corresponding to the first point.

[0136] S820: If at least one of the M distances is within the first distance interval and the energy corresponding to the first point is within the energy interval, select the first point from the N points.

[0137] Example 6: The point cloud filtering condition is used to indicate an energy interval and a second distance interval.

[0138] FIG9 is a flow chart of another method 900 for screening points proposed in an embodiment of the present application.

[0139] S910: Determine M distances between the first point and the M bins and the energy corresponding to the first point.

[0140] S920: If the minimum value among the M distances is within the second distance interval and the energy corresponding to the first point is within the energy interval, the first point is selected from the N points.

[0141] Example 7: Point cloud filtering conditions are used to indicate an energy interval, a first distance interval, and a second distance interval.

[0142] FIG10 is a flow chart of another method 1000 for screening points proposed in an embodiment of the present application.

[0143] S1010: Determine M distances between the first point and the M bins and the energy corresponding to the first point.

[0144] S1020: If at least one of the M distances is within the first distance interval and the energy corresponding to the first point is within the energy interval, the first point is selected from the N points; or, if the minimum value of the M distances is within the second distance interval and the energy corresponding to the first point is within the energy interval, the first point is selected from the N points.

[0145] Based on the above technical solution, through point cloud screening conditions, partial point cloud information that is difficult to replace by facet information is screened out from the overall point cloud information, which helps the second communication device to perceive and identify the target object more accurately based on the facet information and the additional partial point cloud information.

[0146] In some possible embodiments, when the first point has been screened out and the distance between the first point and a first bin among the M bins is within a first distance interval, information about the first point may be associated with information about the first bin.

[0147] FIG11 is a schematic diagram of a data format combining point cloud information and facet information proposed in an embodiment of the present application.

[0148] As shown in Figure 11, the perceived information of a target object can be represented by multiple facets, such as facets 1 to i shown in Figure 11. The perceived information includes the vertex coordinates corresponding to each facet and the topological relationship between the vertices. Information about each facet also includes information such as the target object's surface material, texture, dielectric constant, magnetic permeability, scattering coefficient, and facet quality. Material information is used to characterize the target object's category, such as ground, building, vegetation, and water. Texture information is used to characterize changes in the target object's visual features, including local and global texture features. Dielectric constant is used to characterize the target object's dielectric and polarization properties and can be expressed in ε. Magnetic permeability is used to characterize the target object's magnetization and can be expressed in μ. The scattering coefficient is used to characterize the reflectivity per unit area of ​​the target object. Facet quality is used to characterize the facet's side length, internal angle, and area.

[0149] In addition, when a face element is associated with a corresponding point, the face element information may also include information about the associated points. Based on the above corresponding description, these points are points selected based on the first distance interval and belong to non-isolated point clouds, and include those point clouds with uneven distribution or large fluctuations. Therefore, the information of these points is the information of the next level of the associated face element, thereby establishing an association relationship between points and face elements. For example, if the face element information is at a level identified as 1, then the level identified as 1-1 for the information of the first point associated with the face element represents the first point associated with the face element. Similarly, the level identified as 1-2 for the information of the second point associated with the face element represents the second point associated with the face element. In addition, for those points selected based on the second distance interval, i.e., isolated point clouds, the points in these point clouds are not associated with any face element, so the information of these points can be at the same level as the above face element information.

[0150] Based on the above technical solution, the information of the first point is associated with the information of the first surface element. After the second communication device receives the information of the first surface element, the information of the first point associated with the first surface element can be directly determined, and then the information of the point in the area corresponding to the first surface element can be directly determined.

[0151] In some possible embodiments, the information of the K points filtered out based on the point cloud filtering conditions can be represented by a first data format, namely, including: the coordinates of the K points, the energies corresponding to the K points, and the normal directions corresponding to the K points.

[0152] In some possible embodiments, when L points out of the K points are associated with at least one of the M face elements, the information of these L points can be represented by a second data format, that is, including: the distribution parameters of the distances between the L points and the associated face elements, the distribution parameters of the energies corresponding to the L points, and the distribution parameters of the normal directions corresponding to the L points. In addition, the remaining KL points can be represented by the above-mentioned first data format. For example, the information of the remaining KL points out of the K points can include the coordinates of the KL points, the energies corresponding to the KL points, and the normal directions corresponding to the KL points. Of course, the energies corresponding to the KL points and the normal directions corresponding to the KL points can also be replaced by the distribution parameters of the energies corresponding to the KL points and the distribution parameters of the normal directions corresponding to the KL points.

[0153] In some possible embodiments, the data format used to represent the information of K points can be indicated by the indication information sent by the second communication device. When the first communication device receives the corresponding indication information, it can arrange the information of the K points in a corresponding data format, and then send the perception information determined after the arrangement to the second communication device.

[0154] 12 is a flow chart of another data transmission method 1200 proposed in an embodiment of the present application. The method 1200 is applied to a second communication device, which is a peer device of the first communication device, and may be a control node in the communication system 100.

[0155] S1210: Sending point cloud screening conditions to the first communication device.

[0156] S1220: Receive information of M bins and K points from the first communication device.

[0157] Based on the description of the above corresponding embodiments, it can be seen that the information of M face elements is used to characterize the target object as a whole, the K points are screened out from N points by the first communication device according to the point cloud screening conditions, and the information of N points is used to characterize the target object as a whole, and M and N are positive integers.

[0158] It should be understood that the contents of S1210 and S1220 correspond to the contents of S210 to S230 described above, so for the embodiments of S1210 and S1220, reference can be made to the embodiments corresponding to S210 to S230 described above, and no further details will be given here.

[0159] 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.

[0160] FIG13 is a schematic diagram of a data transmission device 1300 proposed in an embodiment of the present application.

[0161] The apparatus 1300 may be deployed in the first communication apparatus described above, and the apparatus 1300 includes:

[0162] The acquisition unit 1310 is used to acquire information of M face elements and information of N points, where the information of M face elements and the information of N points are respectively used to represent the entire target object, and N and M are positive integers.

[0163] The operation unit 1320 is used to filter out K points from N points according to the point cloud filtering condition, where K is less than N and is a positive integer.

[0164] The sending unit 1330 is configured to send information of M bins and information of K points to the second communication device.

[0165] In some possible embodiments, the apparatus 1300 further includes a receiving unit 1340. Before the operating unit 1320 selects K points from N points according to the point cloud filtering condition, the receiving unit 1340 is configured to receive the point cloud filtering condition from the second communication device.

[0166] In some possible embodiments, the above-mentioned N points include a first point, and the above-mentioned point cloud filtering condition is used to indicate a first distance interval and / or a second distance interval, wherein the lower limit of the second distance interval is greater than the upper limit of the first distance interval, and the operation unit 1320 is specifically used to: determine M distances between the first point and the M surface elements respectively; when at least one of the M distances is within the first distance interval, filter out the first point from the N points; or, when the minimum value of the M distances is within the second distance interval, filter out the first point from the N points.

[0167] In some possible embodiments, the above-mentioned N points include a first point, the above-mentioned point cloud filtering condition is used to indicate an energy interval, and the operation unit 1320 is specifically used to: determine the energy corresponding to the first point; and when the energy corresponding to the first point is within the energy interval, filter out the first point from the N points.

[0168] In some possible embodiments, the above-mentioned N points include a first point, and the above-mentioned point cloud filtering condition is used to indicate an energy interval and a first distance interval and / or a second distance interval, wherein the lower limit of the second distance interval is greater than the upper limit of the first distance interval, and the operation unit 1320 is specifically used to: determine the M distances between the first point and the M surface elements and the energy corresponding to the first point; if at least one of the M distances is within the first distance interval and the energy corresponding to the first point is within the energy interval, the first point is filtered out from the N points, or, if the minimum value of the M distances is within the second distance interval and the energy corresponding to the first point is within the energy interval, the first point is filtered out from the N points.

[0169] In some possible embodiments, when the first point has been screened out by the operation unit 1320 and the distance between the first point and the first surface element among the M surface elements is within a first distance interval, the operation unit 1320 is further used to: associate information of the first point with information of the first surface element.

[0170] In some possible embodiments, the information of the K points includes the coordinates of the K points, the energies corresponding to the K points, and the normal directions corresponding to the K points.

[0171] In some possible embodiments, when L points among the above-mentioned K points are associated with at least one surface element among the M surface elements, the information of the above-mentioned K points includes the distribution parameters of the distances between the L points and the associated surface elements, the distribution parameters of the energies corresponding to the L points, and the distribution parameters of the normal directions corresponding to the L points.

[0172] FIG14 is a schematic diagram of another data transmission device 1400 proposed in an embodiment of the present application.

[0173] The apparatus 1400 may be deployed in the second communication apparatus described above, and the apparatus 1400 includes:

[0174] The sending unit 1410 is configured to send the point cloud screening condition to the first communication device.

[0175] Receiving unit 1420 is used to receive information of M face elements and K points from the first communication device, where the information of the M face elements is used to characterize the target object as a whole. The K points are screened out from N points by the first communication device according to the point cloud screening conditions, and the information of the N points is used to characterize the target object as a whole. M and N are positive integers.

[0176] It should be understood that the device 1400 is a counterpart device of the device 1300 , so the embodiments of the device 1400 may refer to the embodiments corresponding to the above-mentioned device 1300 , and will not be repeated here.

[0177] 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).

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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: Applied to a first communication device, the method comprises: Acquire information of M face elements and information of N points, wherein the information of the M face elements and the information of the N points are respectively used to characterize the entirety of the target object, and N and M are positive integers; According to the point cloud screening condition, K points are screened out from the N points, where K is less than N and is a positive integer; The information of the M face elements and the information of the K points are sent to a second communication device.

2. The method according to claim 1, characterized in that Before selecting K points from the N points according to the point cloud screening condition, the method further includes: The point cloud screening condition is received from the second communication device.

3. The method according to claim 1 or 2, characterized in that: The N points include a first point, the point cloud screening condition is used to indicate a first distance interval and / or a second distance interval, a lower limit of the second distance interval is greater than an upper limit of the first distance interval, and screening K points from the N points according to the point cloud screening condition includes: Determine M distances between the first point and the M surface elements respectively; When at least one of the M distances is within the first distance interval, selecting the first point from the N points; or, When the minimum value among the M distances is within the second distance interval, the first point is selected from the N points.

4. The method according to claim 1 or 2, characterized in that: The N points include a first point, the point cloud screening condition is used to indicate an energy interval, and screening K points from the N points according to the point cloud screening condition includes: determining an energy corresponding to the first point; When the energy corresponding to the first point is within the energy interval, the first point is selected from the N points.

5. The method according to claim 1 or 2, characterized in that: The N points include a first point, the point cloud screening condition is used to indicate an energy interval and a first distance interval and / or a second distance interval, a lower limit of the second distance interval is greater than an upper limit of the first distance interval, and screening K points from the N points according to the point cloud screening condition includes: Determine M distances between the first point and the M surface elements respectively and energy corresponding to the first point; When at least one of the M distances is within the first distance interval and the energy corresponding to the first point is within the energy interval, the first point is selected from the N points, or, If the minimum value among the M distances is within the second distance interval and the energy corresponding to the first point is within the energy interval, the first point is screened out from the N points.

6. The method according to claim 3 or 5, characterized in that: When the first point has been screened out and the distance between the first point and a first surface element among the M surface elements is within the first distance interval, the method further includes: The information of the first point is associated with the information of the first bin.

7. The method according to any one of claims 1 to 6, characterized in that The information of the K points includes the coordinates of the K points, the energies corresponding to the K points respectively, and the normal directions corresponding to the K points respectively.

8. The method according to claim 6, characterized in that When L points among the K points are associated with at least one face element among the M face elements, the information of the K points includes distribution parameters of the distances between the L points and the associated face elements, distribution parameters of the energies corresponding to the L points, and distribution parameters of the normal directions corresponding to the L points.

9. A method for data transmission, characterized in that: Applied to a second communication device, the method comprises: sending the point cloud screening condition to the first communication device; Receive information of M face elements and K points from the first communication device, wherein the information of the M face elements is used to characterize the target object as a whole, the K points are screened out from N points by the first communication device according to the point cloud screening condition, and the information of the N points is used to characterize the target object as a whole, and M and N are positive integers.

10. The method according to claim 9, characterized in that The point cloud filtering condition is used to indicate a first distance interval and / or a second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, the K points include a first point, the distance between the first point and at least one of the M surface elements is within the first distance interval, or the minimum value of the distances between the first point and the M surface elements is within the second distance interval.

11. The method according to claim 9, characterized in that The point cloud screening condition is used to indicate an energy interval, and the energy corresponding to any point among the K points is within the energy interval.

12. The method according to claim 9, characterized in that The point cloud screening condition is used to indicate an energy interval and a first distance interval and / or a second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, the K points include a first point, the energy corresponding to the first point is within the energy interval, and the distance between the first point and at least one of the M surface elements is within the first distance interval, or the minimum value of the distances between the first point and the M surface elements is within the second distance interval.

13. The method according to claim 10 or 12, characterized in that: The K points include a first point, the M surface elements include a first surface element, and when the distance between the first point and the first surface element is within the first distance interval, information about the first point is associated with information about the first surface element.

14. The method according to any one of claims 9 to 13, characterized in that The information of the K points includes the coordinates of the K points, the energies corresponding to the K points respectively, and the normal directions corresponding to the K points respectively.

15. The method according to claim 13, characterized in that When L points among the K points are associated with at least one face element among the M face elements, the information of the K points includes distribution parameters of the distances between the L points and the associated face elements, distribution parameters of the energies corresponding to the L points, and distribution parameters of the normal directions corresponding to the L points.

16. A data transmission device, characterized in that: The device comprises: An acquisition unit, used to acquire information of M face elements and information of N points, wherein the information of the M face elements and the information of the N points are respectively used to characterize the entirety of the target object, and N and M are positive integers; An operation unit, configured to select K points from the N points according to a point cloud screening condition, wherein K is less than N and is a positive integer; A sending unit is used to send the information of the M face elements and the information of the K points to a second communication device.

17. The device according to claim 16, characterized in that The device further includes a receiving unit, which is used to: The point cloud screening condition is received from the second communication device.

18. The device according to claim 16 or 17, characterized in that The N points include a first point, the point cloud screening condition is used to indicate a first distance interval and / or a second distance interval, a lower limit of the second distance interval is greater than an upper limit of the first distance interval, and the operating unit is specifically used to: Determine M distances between the first point and the M surface elements respectively; When at least one of the M distances is within the first distance interval, selecting the first point from the N points; or, When the minimum value among the M distances is within the second distance interval, the first point is selected from the N points.

19. The device according to claim 16 or 17, characterized in that The N points include a first point, the point cloud screening condition is used to indicate an energy interval, and the operation unit is specifically used to: determining an energy corresponding to the first point; When the energy corresponding to the first point is within the energy interval, the first point is selected from the N points.

20. The device according to claim 16 or 17, characterized in that The N points include a first point, the point cloud screening condition is used to indicate an energy interval and a first distance interval and / or a second distance interval, a lower limit of the second distance interval is greater than an upper limit of the first distance interval, and the operating unit is specifically used to: Determine M distances between the first point and the M surface elements respectively and energy corresponding to the first point; When at least one of the M distances is within the first distance interval and the energy corresponding to the first point is within the energy interval, the first point is selected from the N points, or, If the minimum value among the M distances is within the second distance interval and the energy corresponding to the first point is within the energy interval, the first point is screened out from the N points.

21. The device according to claim 18 or 20, characterized in that When the first point has been screened out by the operating unit and the distance between the first point and a first surface element among the M surface elements is within the first distance interval, the operating unit is further configured to: The information of the first point is associated with the information of the first bin.

22. The device according to any one of claims 16 to 21, characterized in that The information of the K points includes the coordinates of the K points, the energies corresponding to the K points respectively, and the normal directions corresponding to the K points respectively.

23. The device according to claim 21, characterized in that When L points among the K points are associated with at least one face element among the M face elements, the information of the K points includes distribution parameters of the distances between the L points and the associated face elements, distribution parameters of the energies corresponding to the L points, and distribution parameters of the normal directions corresponding to the L points.

24. A data transmission device, characterized in that: The device comprises: A sending unit, configured to send the point cloud screening condition to the first communication device; A receiving unit is used to receive information of M face elements and K points from the first communication device, wherein the information of the M face elements is used to characterize the target object as a whole, the K points are screened out from N points by the first communication device according to the point cloud screening condition, and the information of the N points is used to characterize the target object as a whole, and M and N are positive integers.

25. The device according to claim 24, characterized in that The point cloud filtering condition is used to indicate a first distance interval and / or a second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, the K points include a first point, the distance between the first point and at least one of the M surface elements is within the first distance interval, or the minimum value of the distances between the first point and the M surface elements is within the second distance interval.

26. The device according to claim 24, characterized in that The point cloud screening condition is used to indicate an energy interval, and the energy corresponding to any point among the K points is within the energy interval.

27. The device according to claim 24, characterized in that The point cloud screening condition is used to indicate an energy interval and a first distance interval and / or a second distance interval, the lower limit of the second distance interval is greater than the upper limit of the first distance interval, the K points include a first point, the energy corresponding to the first point is within the energy interval, and the distance between the first point and at least one of the M surface elements is within the first distance interval, or the minimum value of the distances between the first point and the M surface elements is within the second distance interval.

28. The device according to claim 25 or 27, characterized in that The K points include a first point, the M surface elements include a first surface element, and when the distance between the first point and the first surface element is within the first distance interval, information about the first point is associated with information about the first surface element.

29. The device according to any one of claims 24 to 28, characterized in that The information of the K points includes the coordinates of the K points, the energies corresponding to the K points respectively, and the normal directions corresponding to the K points respectively.

30. The device according to claim 28, characterized in that When L points among the K points are associated with at least one face element among the M face elements, the information of the K points includes distribution parameters of the distances between the L points and the associated face elements, distribution parameters of the energies corresponding to the L points, and distribution parameters of the normal directions corresponding to the L points.

31. 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 8, or executes the method according to any one of claims 9 to 15.

32. A chip, characterized in that: The method comprises a processor configured to execute the method according to any one of claims 1 to 8 or the method according to any one of claims 9 to 15.

33. 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 as claimed in any one of claims 1 to 8, or executes the method as claimed in any one of claims 9 to 15.

34. 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 8, or executes the method according to any one of claims 9 to 15.

35. A communication system, characterized in that: include: A first communication device, configured to perform the method according to any one of claims 1 to 8; A second communication device, configured to execute the method according to any one of claims 9 to 15.

Images