Sensing data transmission method and apparatus

Abstract

The present application relates to the technical field of communications, and in particular relates to a sensing data transmission method and apparatus, which are aimed at achieving higher compression efficiency and reducing the volume of data to be transmitted in sensing data. The method comprises: a first communication apparatus acquiring a sensing data point for a target object; performing data compression on the sensing data point of the target object, so as to obtain line cluster information and / or surface information of the target object, wherein the surface information is determined on the basis of the sensing data point and a neighbor sensing data point corresponding to the sensing data point, and the line cluster information is determined on the basis of the number of sensing data points corresponding to a first direction; and sending data to a second communication device, wherein the data is determined on the basis of the line cluster information and / or the surface information.

Description

A method and device for transmitting perceptual data

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on December 29, 2023, with application number 202311866818.7 and application name "A Method and Device for Transmitting Perceptual Data", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of communication technology, and in particular to a method and device for perceptual data transmission. Background Art

[0004] As wireless communication applications become increasingly diverse, they can be applied to a wider range of scenarios, such as perception, imaging, and environmental reconstruction. For example, in environmental reconstruction, multiple terminal devices can scan the environment and send the acquired perception data to a base station. The base station can then construct a complete environmental map based on the received perception data.

[0005] Since a large amount of perception data is transmitted in scenarios such as environmental reconstruction, how to compress the perception data and reduce the amount of perception data to be transmitted is an issue worthy of attention. Summary of the Invention

[0006] The present application provides a method and device for transmitting perceptual data, in order to obtain higher compression efficiency and reduce the amount of perceptual data to be transmitted.

[0007] In a first aspect, the present application provides a method for transmitting perception data, which can be executed by a first communication device, and the method includes: obtaining perception data points for a target object; performing data compression on the perception data points of the target object to obtain line cluster information and / or surface information of the target object, wherein the surface information is determined based on the perception data point and the neighboring perception data points corresponding to the perception data point, and the line cluster information is determined based on the perception data points corresponding to a first direction, wherein the perception data points corresponding to the first direction are the perception data points of the target object except the perception data points corresponding to the surface information; and sending data to a second communication device, wherein the data is determined based on the line cluster information and / or surface information.

[0008] Exemplary: The transmitted data may include a first field and / or a second field, wherein the first field may include the endpoint position information of the line cluster corresponding to the line cluster information, or the endpoint position information of the line cluster and the line length information of the line cluster, and the second field may include the boundary point position information and / or surface parameter information of the surface corresponding to the surface information. Optionally, the endpoint position information of the line cluster may also be replaced by the center point position information of the line cluster, or the endpoint position information and the center point position information of the line cluster.

[0009] The above-mentioned first direction can be the direction of the normal vector of the perception data point, the projection direction of the perception data point, the direction of the straight line used for line cluster determination, etc. The above-mentioned determination of the line cluster information according to the perception data points corresponding to the first direction can be performed by clustering based on the normal vector of the perception data point to obtain the line cluster information; the perception data points can also be projected based on the projection direction, and the perception data points located on the line cluster can be screened out based on the number of perception data points corresponding to each projection position, thereby obtaining the line cluster information; the perception data points located on the line cluster can also be screened out based on the number of perception data points on each straight line (or each straight line and its adjacent area) corresponding to the straight line direction, thereby obtaining the line cluster information. Exemplary: for the straight line corresponding to the straight line direction, it can be determined based on the points on a two-dimensional plane in a three-dimensional coordinate system and the direction of the straight line. The points on the two-dimensional plane can be pre-set, or can be determined based on the projection position of some or all of the perception data points of the target object on the two-dimensional plane. This application does not limit this.

[0010] The perception data points of the target object may include perception data points corresponding to surface information (for example, perception data points belonging to a surface), perception data points corresponding to line cluster information (for example, perception data points belonging to a line cluster), and may also include other perception data points, such as perception data points corresponding to point information (for example, perception data points that do not belong to a surface or a line cluster). Taking other perception data points as perception data points corresponding to point information as an example, if the perception data points of the target object include perception data points corresponding to surface information, perception data points corresponding to line cluster information, and perception data points corresponding to point information, the perception data points corresponding to the first direction are the perception data points of the target object excluding the perception data points corresponding to surface information, and can also be understood as the perception data points of the target object excluding the perception data points corresponding to surface information and the perception data points corresponding to point information.

[0011] In the present application, the first communication device and the second communication device are different communication devices. Unless otherwise specified, the "first communication device (or second communication device)" in this application can be the terminal device itself, or an internal component of the terminal device (such as a processor, chip, or chip system, etc.) or a device used in conjunction with the terminal device. Since both the terminal device and the network device can execute the above-mentioned data transmission method, the "first communication device (or second communication device)" in this application can also be the network device itself, or an internal component of the network device (such as a processor, chip, or chip system, etc.) or a device used in conjunction with the network device.

[0012] Through the above method, for the perception data points of the target object located on the surface and / or line cluster, the perception data points located on the surface and / or line cluster can be compressed according to the characteristics of the surface and / or line cluster to obtain higher compression efficiency and reduce the amount of perception data to be transmitted.

[0013] In one possible design, the data also includes a third field, which includes point information of the target object. The point information is determined based on the perception data points of the target object except for the perception data points corresponding to the line cluster information and / or surface information.

[0014] That is to say, in an embodiment of the present application, if the data sent by the second communication device is determined based on three parts: surface information, line cluster information, and point information, the perception data points of the target object can also be divided into three categories (or three parts), namely, the perception data points corresponding to the surface (or surface information), the perception data points corresponding to the line cluster (or line cluster information), and other perception data points other than the perception data points corresponding to the surface and the perception data points corresponding to the line cluster (such as perception data points not located on the surface and the line cluster). The perception data points other than the perception data points corresponding to the surface (or surface information) may include the perception data points corresponding to the line cluster (or line cluster information) and other perception data points (such as perception data points not located on the surface and the line cluster); the perception data points other than the perception data points corresponding to the line cluster (or line cluster information) may include the perception data points corresponding to the surface (or surface information) and other perception data points (such as perception data points not located on the surface and the line cluster).

[0015] Through the above design, the perception data points of the target object that are not located on the surface and / or line cluster can also be compressed and sent to the second communication device, which can further improve the reconstruction performance of the perception data points of the target object by the second communication device.

[0016] In one possible design, the surface information is determined based on the distance between the perception data point and the neighboring perception data points corresponding to the perception data point and a first threshold; and / or, the first direction is the projection direction of the perception data point, and the line cluster information is determined based on the number of perception data points corresponding to each projection position and a second threshold.

[0017] Through the above design, the perception data points located on the surface and / or the perception data points located on the line cluster can be filtered, supporting the determination of the above line cluster information and / or surface information.

[0018] In one possible design, the method further includes: receiving configuration information from the second communication device, where the configuration information indicates the first threshold and / or the second threshold.

[0019] The above design helps the first communication device to adjust the compression parameters on the first communication device side according to the compression performance requirements of the second communication device side for the perceived data, and output compressed data that meets the requirements of the second communication device side.

[0020] In a possible design, the configuration information further indicates whether the data is determined based on line cluster information, or based on surface information, or based on line cluster information and surface information.

[0021] Through the above design, the first communication device can send data according to the requirements of the second communication device, avoid compressing unnecessary perception data points, and avoid sending unnecessary compressed data to the second communication device, which is conducive to reducing the signaling and processing resource overhead of the first communication device.

[0022] In one possible design, the method further includes: receiving first indication information from a second communication device, the first indication information being used to indicate a target object set or a non-target object set, wherein the target object belongs to the target object set.

[0023] Through the above design, the first communication device can compress and send data according to the needs of the second communication device, which is conducive to avoiding unnecessary signaling and processing resource overhead.

[0024] In one possible design, the method also includes: receiving second indication information from a second communication device, the second indication information indicating one or more of a maximum cutoff height of the target object, a minimum cutoff height of the target object, position information of a non-target line cluster, or position information of a non-target surface, wherein the perception data point of the target object is a perception data point corresponding to a maximum cutoff height below the target object, or the perception data point of the target object is a perception data point corresponding to a minimum cutoff height above the target object, the line cluster corresponding to the line cluster information is a line cluster other than the non-target line cluster of the target object, and the surface corresponding to the surface information is a surface other than the non-target surface of the target object.

[0025] Through the above design, the perception data points of the target object obtained by the first communication device or the obtained compressed data can be filtered to avoid unnecessary signaling overhead.

[0026] In one possible design, data compression is performed on the perception data points of the target object to obtain surface information of the target object, including: clustering the perception data points of the target object located on the surface to obtain at least one surface perception data point cluster, wherein the distance (such as the normal vector distance) between each perception data point located on the surface and the corresponding neighboring perception data point of each perception data point is less than a first threshold; and determining the surface information based on the at least one surface perception data point cluster.

[0027] It can be understood that the above-mentioned clustering of the perception data points of the target object located on the surface to obtain at least one surface perception data point cluster can be point clustering of the perception data points of the target object located on the surface to obtain at least one perception data point cluster; it can also be normal vector clustering of the perception data points of the target object located on the surface to obtain at least one perception data point cluster; of course, it can also be point clustering of the perception data points of the target object located on the surface to obtain at least one perception data point cluster, and then normal vector clustering of the perception data points in each perception data point cluster obtained to obtain at least one perception data point cluster; it can also be point clustering of the perception data points of the target object located on the surface to obtain at least one perception data point cluster, and then point clustering of the perception data points in each perception data point cluster obtained to obtain at least one perception data point cluster. The present application does not limit the specific method of clustering the perception data points of the target object located on the surface to obtain at least one surface perception data point cluster.

[0028] Through the above design, the surface information of the target object can be determined by utilizing the characteristic that the perception data points on the same surface are close to each other.

[0029] In one possible design, data compression is performed on the perception data points of the target object to obtain line cluster information of the target object, including: determining the projection position of the perception data points of the target object on the projection surface; for each projection position on the projection surface, when the number of perception data points corresponding to the projection position is greater than a second threshold, determining that the perception data point corresponding to the projection position is located on the projection line cluster; clustering the perception data points of the target object located on the projection line cluster to obtain at least one cluster of projection line cluster perception data points; and determining line cluster information based on at least one cluster of projection line cluster perception data points.

[0030] Through the above design, the line cluster information of the target object can be determined by utilizing the characteristic that the perception data points on the line perpendicular or approximately perpendicular to the projection plane are clustered at the projection positions on the projection plane.

[0031] In one possible design, the method also includes: determining the distance from the perception data point of the target object to the projection surface; for each projection position on the projection surface, when the number of perception data points corresponding to the projection position is greater than a second threshold, determining that the perception data point corresponding to the projection position is located on the projection line cluster, including: for each projection position on the projection surface, when the number of perception data points corresponding to the projection position is greater than the second threshold and the difference in the distance between any two adjacent perception data points of the corresponding projection position and the projection surface is less than a third threshold, determining that the perception data point corresponding to the projection position is located on the projection line cluster.

[0032] Through the above design, it is possible to avoid misjudging discrete perception data points as perception data points on the line, which is beneficial to improving the accuracy of data sent to the second communication device and improving the reconstruction performance of the perception data points on the second communication device side.

[0033] In one possible design, line cluster information is determined based on at least one projection line cluster, including: determining line cluster information based on at least one projection line cluster perceived data point clustering and at least one non-projection line cluster, wherein the at least one non-projection line cluster is determined based on multiple endpoints and / or boundary points corresponding to the at least one projection line cluster.

[0034] Through the above design, the perception data points of the target object that are not located on the line perpendicular or approximately perpendicular to the projection plane can be compressed, further improving the compression performance.

[0035] In a second aspect, an embodiment of the present application provides a method for transmitting perception data, which can be executed by a second communication device, and the method includes: receiving data from a first communication device, the data being determined based on line cluster information and / or surface information of the target object, the surface information being determined based on the perception data points of the target object and the neighboring perception data points corresponding to the perception data points, the line cluster information being determined based on the perception data points corresponding to the first direction, wherein the perception data points corresponding to the first direction are the perception data points of the target object excluding the perception data points corresponding to the surface information; decompressing the received data to obtain the perception data of the target object.

[0036] Exemplarily, the received data may include a first field and / or a second field. The first field may include the endpoint position information of the line cluster corresponding to the line cluster information, or the endpoint position information of the line cluster and the line length information of the line cluster. The second field may include the boundary point position information and / or surface parameter information of the surface corresponding to the surface information. Optionally, the endpoint position information of the line cluster may also be replaced by the center point position information of the line cluster, or the endpoint position information and the center point position information of the line cluster.

[0037] It can be understood that the second communication device decompresses the received data to obtain the perception data of the target object (such as a set of perception data points). This is not the perception data of the target object (such as a set of perception data points) acquired by the first communication device through scanning or other means, but the perception data restored by the second communication device based on the information of a limited number of perception data points recorded in the received data (such as perception data points serving as boundary points of a surface) and an algorithm (such as a sampling algorithm). Precisely because only a limited number of perception data points are transmitted, the air interface overhead between the first communication device and the second communication device can be greatly reduced.

[0038] In one possible design, the received data also includes a third field, which includes point information of the target object. The point information is determined based on the perception data points of the target object except for the perception data points corresponding to the line cluster information and / or surface information.

[0039] In one possible design, the surface information is determined based on the distance between the perception data point and the neighboring perception data points corresponding to the perception data point and a first threshold; and / or, the first direction is the projection direction of the perception data point, and the line cluster information is determined based on the number of perception data points corresponding to each projection position and a second threshold.

[0040] In one possible design, the method further includes: sending configuration information to the first communication device, where the configuration information indicates the first threshold and / or the second threshold.

[0041] In one possible design, the configuration information further indicates whether the data is determined based on line cluster information, or based on surface information, or based on line cluster information and surface information.

[0042] In one possible design, the method further includes: sending first indication information to the first communication device, where the first indication information is used to indicate a target object set or a non-target object set, wherein the target object belongs to the target object set.

[0043] In one possible design, the method also includes: sending second indication information to the first communication device, the second indication information indicating one or more of the maximum cutoff height of the target object, the minimum cutoff height of the target object, the position information of the non-target line cluster, or the position information of the non-target surface, wherein the perception data point of the target object is the perception data point below the maximum cutoff height of the corresponding target object, or the perception data point of the target object is the perception data point above the minimum cutoff height of the corresponding target object, the line cluster corresponding to the line cluster information is the line cluster other than the non-target line cluster of the target object, and the surface corresponding to the surface information is the surface other than the non-target surface of the target object.

[0044] In a third aspect, embodiments of the present application provide a communication device having the functionality to implement the method of the first or second aspect described above. The functionality may be implemented through hardware or through hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functionality, such as an interface unit and a processing unit.

[0045] In one possible design, the apparatus may be a device, a chip, or an integrated circuit.

[0046] In one possible design, the device includes a memory and a processor, the memory is used to store instructions executed by the processor, and when the instructions are executed by the processor, the device can perform the method of the first aspect or the second aspect.

[0047] In a fourth aspect, an embodiment of the present application provides a communication device, comprising an interface circuit and a processor, wherein the processor and the interface circuit are coupled to each other. The processor implements the method of the first or second aspect described above through a logic circuit or execution instructions. The interface circuit is configured to receive signals from other communication devices outside the communication device and transmit them to the processor, or to transmit signals from the processor to other communication devices outside the communication device. It will be understood that the interface circuit may be a transceiver, a transceiver, a transceiver, or an input / output interface.

[0048] Optionally, the communication device may further include a memory for storing instructions executed by the processor, or storing input data required by the processor to execute instructions, or storing data generated after the processor executes instructions. The memory may be a physically independent unit, or may be coupled to the processor, or the processor may include the memory (i.e., the processor and memory are integrated together).

[0049] In a possible implementation, the communication device may be a device or a chip.

[0050] In a fifth aspect, an embodiment of the present application provides a communication system, which includes a first communication device and a second communication device, wherein the first communication device is used to implement the method of the first aspect above; the second communication device is used to implement the method of the second aspect above.

[0051] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the method of the first or second aspect mentioned above can be implemented.

[0052] In the seventh aspect, an embodiment of the present application further provides a computer program product, including a computer program or instructions, which, when executed by a processor, can implement the method of the first or second aspect above.

[0053] In the eighth aspect, an embodiment of the present application also provides a chip system, which includes a processor, the processor is used to couple with a memory, and the memory is used to store computer programs or instructions. When the computer program or instructions are executed by the processor, the method of the first or second aspect above can be implemented.

[0054] The technical effects that can be achieved in the second to eighth aspects mentioned above can refer to the technical effects that can be achieved in the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0056] FIG2 is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0057] FIG3 is one of the 2D images provided in an embodiment of the present application;

[0058] FIG4 is a schematic diagram of a method for transmitting perceptual data provided in an embodiment of the present application;

[0059] FIG5 is a schematic diagram of three-dimensional coordinates provided in an embodiment of the present application;

[0060] FIG6 is a schematic diagram of bisection of sensing data points provided in an embodiment of the present application;

[0061] FIG7 is a schematic diagram of clustering of perception data points on a plane provided by an embodiment of the present application;

[0062] FIG8 is a schematic diagram of boundary-aware data point extraction provided by an embodiment of the present application;

[0063] FIG9 is a schematic diagram of the distribution probability of x values ​​of perception data points provided by an embodiment of the present application;

[0064] FIG10 is a schematic diagram of position information of sensing data points provided in an embodiment of the present application;

[0065] FIG11 is a second 2D diagram provided in an embodiment of the present application;

[0066] FIG12 is a schematic diagram of the range of the projection line cluster provided in an embodiment of the present application;

[0067] FIG13 is a schematic diagram of indexes at both ends of a projection line cluster provided by an embodiment of the present application;

[0068] FIG14 is a second schematic diagram of a method for perceptual data transmission provided in an embodiment of the present application;

[0069] FIG15 is a schematic diagram of compressed data content provided in an embodiment of the present application;

[0070] FIG16A is one of the simulation diagrams provided in an embodiment of the present application;

[0071] FIG16B is a second simulation diagram provided in an embodiment of the present application;

[0072] FIG17 is a schematic diagram of compression ratio of compression mode 2 of the present application provided in an embodiment of the present application;

[0073] FIG18A is a third simulation diagram provided in an embodiment of the present application;

[0074] FIG18B is a fourth simulation diagram provided in an embodiment of the present application;

[0075] FIG19 is a second schematic diagram of the compression ratio of compression mode 2 of the present application provided in an embodiment of the present application;

[0076] FIG20 is a schematic diagram of a structure of a communication device according to an embodiment of the present application;

[0077] FIG21 is a second schematic diagram of the structure of the communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0078] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: long term evolution (LTE) system, evolved LTE (LTE-advanced, LTE-A) system, universal mobile telecommunications system (UMTS), and fifth generation (5G) mobile communication system, beyond 5G (B5G) mobile communication system, or communication system evolved after 5G (such as 6G mobile communication system). The communication system can also be a device-to-device (D2D) network, a WiFi network, a machine-to-machine (M2M) network, an Internet of Things (IoT) network, or other networks.

[0079] The architecture of the communication system used in the embodiments of the present application can be shown in Figure 1. Communication system 1000 includes a radio access network (RAN) 100 and a core network (CN) 200. Optionally, communication system 1000 may also include the Internet 300. RAN 100 includes at least one network device (such as 110a and 110b in Figure 1, collectively referred to as 110) and at least one terminal device (such as 120a-120j in Figure 1, collectively referred to as 120). RAN 100 may also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in Figure 1). Terminal device 120 is wirelessly connected to network device 110. Network device 110 is wirelessly or wiredly connected to core network 200. The core network devices in core network 200 and network device 110 in RAN 100 may be different physical devices, or they may be the same physical device that integrates core network logical functions and radio access network logical functions.

[0080] The RAN 100 may be a cellular system related to the Third Generation Partnership Project (3GPP), such as a 4G, 5G, or an evolved system beyond 5G (e.g., a 6G mobile communication system). The RAN 100 may also be an open access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a WiFi system. The RAN 100 may also be a communication system that integrates two or more of the above systems.

[0081] The apparatus provided in the embodiment of the present application can be applied to the network device 110 or to the terminal device 120. It is understood that FIG1 only shows a possible communication system architecture to which the embodiment of the present application can be applied, and in other possible scenarios, the communication system architecture may also include other devices.

[0082] The network device 110 is a node in the radio access network (RAN), which can also be called an access network device or a RAN node (or device). The network device 110 is used to help terminal devices achieve wireless access. The multiple network devices 110 in the communication system 1000 can be nodes of the same type or different types. In some scenarios, the roles of the network device 110 and the terminal device 120 are relative. For example, the network element 120i in Figure 1 can be a helicopter or a drone, which can be configured as a mobile base station. For terminal devices 120j that access the RAN 100 through the network element 120i, the network element 120i is a base station; but for the base station 110a, the network element 120i is a terminal device. The network device 110 and the terminal device 120 are sometimes referred to as communication devices. For example, the network elements 110a and 110b in Figure 1 can be understood as communication devices with base station functions, and the network elements 120a-120j can be understood as communication devices with terminal device functions.

[0083] In one possible scenario, a network device can be a base station (BS), an evolved NodeB (eNodeB), a transmitting and receiving point (TRP), a transmitting point (TP), a next-generation NodeB (gNB), a base station in a future mobile communication system, a satellite, an access point (AP) in a WiFi system, an integrated access and backhaul (IAB) node, a mobile switching center, or a network device in a non-terrestrial network (NTN) communication system, i.e., it can be deployed on a high-altitude platform or satellite. The network device can be a macro base station (such as 110a in Figure 1), a micro base station or an indoor station (such as 110b in Figure 1), a relay node or a donor node, or a wireless controller in a CRAN scenario. The network device can also be a device that functions as a base station in device-to-device (D2D) communication, Internet of Vehicles (IoV) communication, drone communication, or machine communication. Optionally, the network device can also be a server, wearable device, vehicle, or vehicle-mounted device, etc. For example, the access network device in vehicle to everything (V2X) technology may be a road side unit (RSU).

[0084] In another possible scenario, multiple network devices collaborate to assist the terminal device in achieving wireless access, and different network devices respectively implement part of the functions of the base station. For example, the network device 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 also be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). It can be understood that the network device can be a CU node, a DU node, or a device including a CU node and a DU node. In addition, the CU can be divided into a network device in the access network RAN, or the CU can be divided into a network device in the core network CN, which is not limited here.

[0085] 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.

[0086] In the embodiments of the present application, the form of the network device is not limited. 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.

[0087] The terminal device 120, which may also be referred to as a terminal, user equipment (UE), mobile station (MS), or mobile terminal (MT), can be a device for providing voice or data connectivity to a user, an IoT device, or a station (STA) in a WiFi system. For example, the terminal device includes a handheld device or vehicle-mounted device with wireless connectivity. Currently, terminal devices may include: mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), wearable devices (e.g., smart watches, smart bracelets, pedometers, smart glasses, etc.), vehicle-mounted devices (e.g., cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed trains, etc.), satellite terminals, virtual reality (VR) devices, augmented reality (AR) devices, smart point-of-sale (POS) machines, customer-premises equipment (CPE), wireless terminals in industrial control, smart home devices (e.g., refrigerators, televisions, air conditioners, electric meters, etc.), intelligent robots, robotic arms, workshop equipment, wireless terminals in unmanned driving, wireless terminals in telemedicine, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, and flying devices (e.g., intelligent robots, hot air balloons, drones, airplanes), etc. Terminal devices may also be other devices with terminal functions, for example, a terminal device may also be a device that functions as a terminal in D2D communication.

[0088] The embodiments of this application do not limit the device form factor of the terminal device. The device used to implement the functions of the terminal device can be the terminal device; it can also be a device that supports the terminal device to implement the functions, such as a chip system. The device can be installed in the terminal device or used in conjunction with the terminal device. In the embodiments of this application, the chip system can be composed of a chip or include a chip and other discrete components.

[0089] Based on the communication system architecture shown in Figure 1, Figure 2 illustrates an application scenario applicable to the embodiments of the present application, including terminal devices and network devices. Terminal devices (such as mobile phones, computers, cars, airplanes, etc.) can scan the surrounding environment through sensors set on the terminal devices to obtain perception data (also known as point cloud data, imaging data, etc.), and send the compressed perception data to the network devices. The network devices can perform information fusion and environmental map construction based on the perception data reported by the terminal devices.

[0090] To facilitate understanding by those skilled in the art, some terms in this application are explained below.

[0091] 1) Perception data. The perception data involved in the embodiments of the present application may refer to data obtained by a sensing (or scanning) device (such as a terminal device, a vehicle-mounted device, etc.) scanning the surrounding environment through a sensor (such as one or more of a visual sensor, an electromagnetic wave sensor (or antenna), a millimeter wave sensor, etc.). Exemplary: the perception data obtained by the sensing device through the sensor scanning the surrounding environment may include multiple perception data points, each perception data point may correspond to a point in space, and may include at least one-dimensional data obtained by scanning the point. For example, one or more of the three-dimensional coordinates of the point (wherein each dimension of the coordinates may correspond to one-dimensional data), the echo signal strength, the round-trip time of the perception signal (such as an electromagnetic wave signal), etc., each data may be one-dimensional data included in the perception data point. In some implementations, perception data may also be referred to as a set of perception data points (or data points), point cloud data, scanning data, environmental data, imaging data, and the like.

[0092] 2) Compression scheme based on two-dimensional (2D) projection. The compression scheme based on 2D projection can determine the projection position according to the two-dimensional data (such as two-dimensional coordinates) of the perceived data point, and the other dimensional data (such as the third-dimensional coordinates) are compressed as the filling value under the projection position. Exemplary: for the three-dimensional coordinates (x, y, z) represented by the x value (horizontal coordinate), y value (vertical coordinate) and z value (vertical coordinate) in the Cartesian coordinate system, it can be projected to the XOY plane (the horizontal plane in the Cartesian coordinate system), and the (x, y) quantized value can be used as the projection position in the 2D graph, and each projection position is filled with the corresponding number of z values; and the multiple z values ​​of each projection position can be recorded in sequence, and the z value sequence composed of multiple z values ​​can be compressed in combination with quantization entropy coding.

[0093] Referring to the 2D graph shown in FIG3 , each square in the 2D graph corresponds to a projection position, the horizontal axis represents the quantized value of the x value (abscissa), the vertical axis represents the quantized value of the y value (ordinate), and the value filled in each square represents the number of z values ​​corresponding to the projection position represented by the square (or the number of corresponding perception data points). The z value sequence corresponding to the 2D graph in FIG3 can be expressed as {z 1_1 ,z 1_2 ,z 2_1 ,z 2_2 ,z 3_1 ,z 3_2 ,z 3_3,……}, through the quantized value of the x value and the quantized value of the y value corresponding to the projection position, and one or more z values ​​corresponding to the projection position, the three-dimensional coordinates of one or more perception data points corresponding to the projection position can be restored.

[0094] However, current compression schemes based on 2D projection and KD tree compression schemes are designed based on the compression of each perceptual data point in the perceptual data, without considering the geometric semantic information of the perceptual data, and the compression efficiency is not high. Based on this, the present application provides a perceptual data transmission method and device, which aims to compress the perceptual data based on the geometric semantic characteristics of the perceptual data to obtain higher compression efficiency and reduce the amount of perceptual data to be transmitted. The following will describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0095] Furthermore, it should be understood that ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish between multiple objects and are not used to define the size, content, sequence, timing, priority, or importance of the multiple objects. For example, "a first communication device" and "a second communication device" do not indicate a difference in priority or importance between the two communication devices.

[0096] In the embodiments of the present application, the number of nouns, unless otherwise specified, means "singular noun or plural noun", that is, "one or more". "At least one" means one or more, and "plural" means two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. For example, A / B means: A or B. "At least one of the following items (individuals) or similar expressions refers to any combination of these items, including any combination of single items (individuals) or plural items (individuals). For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0097] The perceptual data transmission method provided in the embodiment of the present application can be performed by a first communication device and a second communication device, wherein the first communication device and the second communication device are different communication devices, and the first communication device (or the second communication device) can refer to a terminal device, a component of a terminal device (such as a processor, a chip, or a chip system, etc.), or a device used in conjunction with a terminal device, and can also refer to a network device, a component of a network device (such as a processor, a chip, or a chip system, etc.), or a device used in conjunction with a network device. The first communication device can act as a transmitter of the perceptual data to compress the perceptual data, and the second communication device can act as a receiver to decompress and restore the perceptual data.

[0098] Exemplarily: the first communication device may be a terminal device, the second communication device may be a network device, the terminal device may obtain the perception data, compress it and send it to the network device, and the network device may decompress and restore the perception data.

[0099] FIG4 is a schematic diagram of a method for transmitting sensory data according to an embodiment of the present application, the method comprising:

[0100] S401: The first communication device obtains perception data points for a target object.

[0101] In an embodiment of the present application, the first communication device can be used as a sensing device or a scanning device to scan the target object and obtain perception data; or the first communication device can also obtain perception data from other communication devices, and the present application does not limit this. It can be understood that there can be one or more target objects, and the perception data of the target object can be a collection of perception data points (also called data points) of the target object. Obtaining the perception data of the target object can also be called obtaining the perception data points of the target object. Each perception data point can correspond to a point on the target object and can include at least one-dimensional data obtained by scanning the point. For example, the three-dimensional (3D) coordinates of the point (where each dimension of the coordinates can correspond to one-dimensional data) can also include one or more of the echo signal strength, the round-trip time of the perception signal (such as an electromagnetic wave signal), etc.

[0102] 5, the three-dimensional coordinates recorded by the sensing data point can be the vertical angle θ (also called the pitch angle), the horizontal angle (also known as the yaw angle) and the distance r from the point to the origin to represent the spherical coordinates Alternatively, the three-dimensional coordinates may be expressed as Cartesian coordinates (x, y, z) represented by x values ​​(horizontal coordinates), y values ​​(vertical coordinates), and z values ​​(vertical coordinates) in a Cartesian coordinate system. Alternatively, the three-dimensional coordinates may be expressed as three-dimensional coordinates in other three-dimensional coordinate systems (such as cylindrical coordinate systems). This application does not limit the specific form of the three-dimensional coordinates. It is understood that the three-dimensional coordinates in different coordinate systems can be converted to each other.

[0103] For example, the mapping algorithm from the Cartesian coordinate system to the spherical coordinate system may satisfy the following formula:

[0104] S402: The first communication device performs data compression on the sensing data points of the target object to obtain line cluster information and / or surface information of the target object.

[0105] Among them, the surface information is determined based on the perception data point and the neighboring perception data points corresponding to the perception data point, and the line cluster information is determined based on the perception data points corresponding to the first direction. The perception data points corresponding to the first direction are the perception data points of the target object except the perception data points corresponding to the surface information.

[0106] The perception data points of the target object may include perception data points corresponding to surface information (for example, perception data points belonging to a surface), perception data points corresponding to line cluster information (for example, perception data points belonging to a line cluster), and may also include other perception data points, such as perception data points corresponding to point information (for example, perception data points that do not belong to a surface or a line cluster). Taking other perception data points as perception data points corresponding to point information as an example, if the perception data points of the target object include perception data points corresponding to surface information, perception data points corresponding to line cluster information, and perception data points corresponding to point information, the perception data points corresponding to the first direction are the perception data points of the target object excluding the perception data points corresponding to surface information, and can also be understood as the perception data points of the target object excluding the perception data points corresponding to surface information and the perception data points corresponding to point information.

[0107] In addition, it is understandable that when the first communication device performs data compression on the perception data points of the target object and does not obtain the surface information of the target object (or does not perform data compression on the perception data points on the surface to obtain the surface information), the perception data points corresponding to the first direction may not exclude the perception data points corresponding to the surface information, and may also exclude the perception data points corresponding to the surface information. When a data compression method is adopted in which the perception data points corresponding to the surface information are excluded to determine the line cluster information regardless of whether the surface information of the target object is obtained, regardless of whether the first communication device performs data compression on the perception data points of the target object to obtain the surface information of the target object, the perception data points corresponding to the first direction can be perception data points in the perception data points of the target object other than the perception data points corresponding to the surface information.

[0108] Exemplarily: the first direction can be the direction of the normal vector of the perception data point, the direction of the straight line used to determine the line cluster, the projection direction of the perception data point, etc., and the line cluster information can be obtained by clustering based on the normal vector of the perception data point; the perception data points located on the line cluster can be screened out based on the number of perception data points on each straight line corresponding to the straight line direction, thereby obtaining the line cluster information; the perception data points can also be projected based on the projection direction, and the perception data points located on the line cluster can be screened out based on the number of perception data points corresponding to each projection position, thereby obtaining the line cluster information.

[0109] The appearance of an object (such as a house, a bridge, etc.) usually presents a certain geometric structure (such as a surface, a line, etc.), and the three-dimensional coordinate distribution of the perception data points obtained by scanning the object usually also conforms to the three-dimensional coordinate distribution of multiple points on a certain geometric structure. Therefore, in an embodiment of the present application, it is possible to consider identifying the geometric structure semantics of the perception data points of the target object and compressing the perception data points based on the geometric structure semantic characteristics. The geometric structure semantics may refer to the category of the geometric structure, such as a surface (such as a plane, a curved surface), a line, etc.; the geometric structure semantic characteristics may refer to the distribution characteristics of the perception data points located on the geometric structure, such as the normal vectors corresponding to the perception data points located on the same plane are usually the same, and the normal vectors of adjacent perception data points located on the same curved surface are usually similar.

[0110] Exemplary: Taking the case where the identified geometric structure includes a surface, the first communication device can identify the surface corresponding to the perception data point of the target object, and determine the compressed data based on the surface information of the surface, wherein the surface information of the surface may include the position information of the key perception data points of the surface and / or the surface parameter information, wherein the surface parameter information may refer to the normal vector of the surface, or the expression (such as an equation) corresponding to the surface, etc. The key perception data points of the surface can be perception data points that can reflect the area corresponding to the surface in space (or coordinate system), can be boundary perception data points of the surface (i.e., boundary points), partial perception data points obtained by sampling the perception data points located on the surface, etc. The position information of the key perception data points can be the three-dimensional coordinates of the key perception data points, the two-dimensional coordinates corresponding to the projection position of the key perception data points on the projection surface and the distance to the projection surface, information of the two-dimensional coordinate system constructed with the surface where the key perception data points are located, and the coordinates of the key perception data points in the two-dimensional coordinate system, etc. Taking the example of a recognized geometric structure including a line cluster (or line), the first communication device can identify the line cluster corresponding to the perception data point of the target object, and determine the compressed data based on the line cluster information of the line cluster, wherein the line cluster information may include the position information of the key perception data points of the line cluster, or the position information and line length information of the key perception data points of the line cluster. The key perception data points of the line cluster can be perception data points that can reflect the area corresponding to the line cluster in space (or coordinate system), and can be boundary perception data points corresponding to the endpoints of the line cluster (or the endpoints of one or more lines in the line cluster), perception data points corresponding to the center point of the line cluster, partial perception data points obtained by sampling the perception data points located on the line cluster, etc. The position information of the key perception data points can be the three-dimensional coordinates of the key perception data points, the two-dimensional coordinates corresponding to the projection position of the key perception data points on the projection surface, the three-dimensional area information of the distribution of the key perception data points, the two-dimensional projection area information of the key perception data points on the projection surface, etc. The line length information can be the maximum and minimum values ​​of the distance from the perception data points located on the line cluster to the projection surface, etc.

[0111] It is understandable that line cluster information may include the following situations: 1) After line clustering, each projection point in each cluster can send endpoint location information and / or line length information; 2) After line clustering, each cluster only sends the minimum enclosing area in the cluster (for example, one endpoint + radius r, etc.) and / or line length information. 3) After line clustering, some clusters adopt method 1), and some clusters adopt method 2). Whether to adopt method 1) or method 2) can be distinguished based on characteristics such as the number, density, or regional distribution of projection points in the cluster. For example, if the density is less than the density threshold, method 1) is adopted, and if it is greater than or equal to the density threshold, method 2) is adopted, and so on.

[0112] In some implementations, the second communication device may also instruct the first communication device to select which of the above three methods by sending indication information; the first communication device may also report whether the line cluster information corresponding to each line cluster is determined using the above method 1) or 2). In addition, it may also report the area parameters corresponding to each line cluster (such as the number, density, and distribution of perception data points, etc.) to control the sampling granularity of decompression (or data restoration) on the second communication device side.

[0113] In one possible implementation, the first communication device may identify (or extract) a surface corresponding to a perception data point of the target object based on a distance between the perception data point and its neighboring perception data points, and obtain surface information of the target object.

[0114] Exemplarily: the first communication device can perform binary classification on the perception data points of the target object based on the distance between each perception data point of the target object and the neighboring perception data points of the perception data point, wherein the perception data points whose corresponding distance is less than the first threshold belong to the perception data points on the surface, and the perception data points whose corresponding distance is greater than or equal to the first threshold do not belong to the perception data points on the surface. And the perception data points of the target object belonging to the surface can be clustered to obtain at least one surface perception data point cluster, wherein each surface perception data point cluster corresponds to a surface, and based on each surface perception data point cluster, the surface information of the surface corresponding to the surface perception data point cluster can be determined. For example: for surface 1, an edge recognition algorithm (such as a concave-convex detection algorithm, etc.) can be used to identify the boundary perception data points located on surface 1 in the surface perception data point cluster 1 corresponding to surface 1, and then determine the surface information of surface 1 (such as the position information of the boundary perception data points).

[0115] Since the normal vectors of the perception data points on the same surface are typically the same or similar, in order to improve the accuracy of the obtained surface information of the target object, in some implementations, the perception data points of the target object can be binary-classified based on the distance between the normal vector of each perception data point of the target object and the normal vectors of its neighboring perception data points; and the perception data points on the surface of the target object can be clustered to obtain at least one surface perception data point cluster. It is understood that the normal vector of a perception data point can be determined based on the normal vector of a plane fitted by multiple perception data points centered on the perception data point.

[0116] It can be understood that the above-mentioned clustering of the perception data points of the target object belonging to (or located on) the surface to obtain at least one surface perception data point cluster can be point clustering of the perception data points of the target object belonging to the surface to obtain at least one perception data point cluster; it can also be normal vector clustering of the perception data points of the target object belonging to the surface to obtain at least one perception data point cluster; of course, it can also be point clustering of the perception data points of the target object belonging to the surface first to obtain at least one perception data point cluster, and then normal vector clustering of the perception data points in each obtained perception data point cluster to obtain at least one perception data point cluster; it can also be point clustering of the perception data points of the target object belonging to the surface first to obtain at least one perception data point cluster, and then point clustering of the perception data points in each obtained perception data point cluster to obtain at least one perception data point cluster. The present application does not limit the specific method of clustering the perception data points of the target object belonging to the surface to obtain at least one surface perception data point cluster.

[0117] As an example, referring to the bisection diagram of the perception data points of the target object shown in FIG6 , the first communication device may calculate the distance d between each perception data point of the target object and its neighboring perception data points based on the normal vector of the perception data point. i , separate the perception data points on the surface and the perception data points that do not belong to the surface. i is the perception data point index of the target object, j is the index of the N neighboring perception data points of the perception data point indexed as i, N is an integer greater than or equal to 1, and Th is the first threshold.

[0118] It is understood that the above-mentioned surface can refer to a plane and / or a curved surface. Since the normal vectors corresponding to the perception data points located on the same plane are usually the same and the normal vectors of the adjacent perception data points located on the same curved surface are usually similar, when the above-mentioned surface only includes a plane, the value of Th can be Th1. When the above-mentioned surface includes a plane and a curved surface, the value of Th can be Th2, where Th2 is greater than Th1. For the case where the above-mentioned surface only includes a curved surface, the above formula can also be evolved into Th1 and / or Th2 can be determined based on the normal vector distance distribution interval of adjacent perception data points in the surface to be screened.

[0119] As shown in Figure 7, for the perception data points on the surface, the first communication device can obtain at least one surface perception data point cluster by performing normal vector clustering on the perception data points on the surface, wherein the normal vectors of the perception data points in any surface perception data point cluster are the same or similar, and each surface perception data point cluster corresponds to a surface. As shown in Figure 8, by extracting the boundary perception data points (indicated by the arrows in Figure 8) in each obtained surface perception data point cluster (such as surface perception data point cluster 1 and surface perception data point cluster 2 in Figure 8), the first communication device can obtain the surface information (such as the three-dimensional coordinates of the boundary perception data points in the surface) of the surface (such as surface 1 and surface 2) corresponding to the surface perception data point cluster (such as surface perception data point cluster 1 and surface perception data point cluster 2 in Figure 8).

[0120] In another possible implementation, the first communication device can also identify (or extract) the surface (such as a plane, etc.) corresponding to the perception data point of the target object based on the distribution probability and distribution probability threshold of at least one-dimensional data (such as one or more of the x value, y value, or z value, etc.) of the perception data point of the target object to obtain the surface information of the target object.

[0121] Exemplarily: The first communication device can select at least one continuous segment of x-values ​​(or y-values ​​or z-values) with a larger distribution probability based on the distribution probability of the x-values ​​(or y-values ​​or z-values) of the perception data points of the target object, obtain at least one cluster of surface perception data points (that is, obtain a set of perception data points of at least one surface), and obtain the surface information of the target object based on the obtained at least one cluster of surface perception data points.

[0122] Referring to the schematic diagram of the distribution probability of the x-values ​​of the perception data points shown in FIG9 , where the horizontal axis in FIG9 represents the x-values ​​(i.e., the abscissa) of the perception data points of the target object, and the vertical axis represents the distribution probability (or proportion) of the perception data points, FIG9 shows that the x-values ​​for which the distribution probability of the perception data points is greater than the distribution probability threshold (taking the distribution probability threshold as 0.05 as an example) are -19 and 12, respectively. It can be determined that the x-value distribution intervals corresponding to -19 and 12, respectively, are [-19.25, -18.75] and [11.75, 12.25], corresponding to the face. The first communication device can extract the perception data points of the target object whose x values ​​are located at [-19.25, -18.75], and obtain the perception data point set 1 (i.e., surface perception data point cluster 1) whose x values ​​correspond to [-19.25, -18.75] and the perception data point set 2 (i.e., surface perception data point cluster 2) whose x values ​​correspond to [11.75, 12.25]. By extracting the boundary perception data points in each obtained surface perception data point set, the first communication device can obtain the surface information of surface 1 and surface 2 corresponding to the perception data point set 1 and the perception data point set 2.

[0123] In an embodiment of the present application, the surface information may include the position information of the boundary perception data points of the M surfaces of the target object, where M is an integer greater than or equal to 1. For example, each surface corresponds to n boundary perception points, and the position information of the boundary perception data points is the three-dimensional coordinates of the boundary perception data points. The three-dimensional coordinates of the n boundary perception points are sorted clockwise or counterclockwise. For each surface, the three-dimensional coordinates of the n boundary perception data points corresponding to the surface can be expressed in a three-dimensional form, or in a two-dimensional form using the origin corresponding to the surface and the direction vectors of the two coordinate axes corresponding to the surface, and the two-dimensional coordinates of the position information of the n boundary perception data points corresponding to the surface corresponding to the above two coordinate axes. For example:

[0124] Method 1: Three-dimensional form {(x1,x2,…,x n ),(y1,y2,…,y n ),(z1,z2,…,z n )}, where n represents the number of boundary perception points, (x1,x2,…,x n ) represents the x value (horizontal coordinate) of n boundary perception data points, (y1,y2,…,y n ) represents the y value (ordinate) of n boundary perception data points, (z1,z2,…,z n ) represents the z value (vertical coordinate) of n boundary perception data points, where the three-dimensional data of the n boundary perception data points can be entropy encoded separately for each dimension), or the three-dimensional data can be entropy encoded together, which is not limited in this application.

[0125] Method 2: Two-dimensional form. As shown in Figure 10, for any surface, any point in the surface perception data point cluster can be extracted as the origin O, and the direction vectors of the two coordinate axes on the surface (n x ,n y ), then we can use the three-dimensional coordinates of the origin O and the direction vectors of the two coordinate axes (n x ,n y ), transform the three-dimensional coordinates (x, y, z) of the n boundary perception data points corresponding to the surface into two-dimensional coordinates (p x ,p y ), then the location information of the boundary perception data point of the surface can be expressed as: {(x o ,y o ,z o ),(n x ,n y ),(p x1 ,p x2 ,…),(p y1 ,p y2 ,…)}, where (x o ,y o ,zo ) represents the three-dimensional coordinates of the origin corresponding to the surface, (n x ,n y ) represents the direction vectors of the two coordinate axes corresponding to the surface, (p x1 ,p x2 ,…),(p y1 ,p y2 ,…) represent the positions (or coordinates) of n boundary-aware data points corresponding to the face in the two-dimensional coordinate system constructed with the above-mentioned origin and the above-mentioned two coordinate axes.

[0126] It can be understood that the surface information may include the position information of the boundary perception data points corresponding to the M surfaces, and the position information of the boundary perception data points corresponding to the M surfaces may be arranged in sequence. The surface information may also include the number of boundary perception data points corresponding to the M surfaces (a1, a2, ..., a m ), serving as a separator or separation basis for the boundary position information of the M faces.

[0127] In some implementations, when the number of boundary-perceived data points corresponding to a surface is small (for example, the number of boundary-perceived data points is less than or equal to a set threshold), the position information of the boundary-perceived data points can be represented in three-dimensional or two-dimensional form; and when the number of boundary-perceived data points corresponding to a surface is large (for example, the number of boundary-perceived data points is greater than a set threshold), the position information of the boundary-perceived data points can be represented in two-dimensional form to obtain a higher compression gain.

[0128] In one possible implementation, the above-mentioned first direction can be a projection direction or a straight line direction. The first communication device can identify (or extract) the line clusters corresponding to the perception data points of the target object based on the number of perception data points of the target object at each projection position (or on a straight line), and obtain the line cluster information of the target object, wherein the line cluster can include a line cluster which can be understood as a collection of lines (or line segments), and a line cluster can correspond to one or more lines (or line segments).

[0129] Exemplarily: the first communication device can project the perception data points on the non-surface of the target object based on the projection plane (such as the horizontal plane of the Cartesian coordinate system (i.e., the XOY plane)), and can count the number of perception data points corresponding to each projection position, wherein each projection position can correspond to a straight line, for example, the straight line corresponding to each projection position is a straight line passing through the projection position and perpendicular to the projection plane. For any projection position, if the number of perception data points corresponding to the projection position is greater than the second threshold, it can be determined that the perception data point corresponding to the projection position is located on the projection line cluster, and by clustering the perception data points of the target object located on the projection line cluster (such as based on distance), at least one projection line cluster perception data point cluster can be obtained, wherein each projection line cluster perception data point cluster corresponds to a projection line cluster. Based on the projection line cluster cluster corresponding to the projection line cluster, the first communication device can determine the line cluster information of the projection line cluster.

[0130] In order to avoid misjudging discrete perception data points as perception data on a line, in some implementations, for any projection position, it is also possible to determine that the perception data point corresponding to the projection position is located on the projection line cluster if the number of perception data points corresponding to the projection position is greater than a second threshold and the difference in distances between any two adjacent perception data points corresponding to the projection position and the projection surface is less than a third threshold.

[0131] Taking the projection plane as the horizontal plane of the Cartesian coordinate system (i.e., the XOY plane) as an example, the three-dimensional coordinates (x, y, z) of the perception data points on the non-surface of the target object can be quantized, wherein for any perception data point, its quantized (x, y) is the projection position on the projection plane, and the quantized z is the distance from the perception data point to the projection plane. Referring to the 2D diagram shown in Figure 11, each square in the 2D diagram corresponds to a projection position, the horizontal axis represents the quantized value of the x value (abscissa), the vertical axis represents the quantized value of the y value (ordinate), and the value filled in each square represents the number of z values ​​corresponding to the perception data point represented by the square (or the number of corresponding perception data points). The first communication device can calculate the number of z values ​​corresponding to each projection position based on the number c of z values ​​corresponding to each projection position. i , and the second threshold T2 and the third threshold T3 determine the perception data points located on the projection line. i is the index of the projection position (i.e., (x, y)), and zj and zk are the z values ​​of any two adjacent perception data points corresponding to the projection position i.

[0132] As shown in FIG12 , for the perception data points located on the projection line cluster, the first communication device can cluster the perception data points located on the projection line cluster based on the projection positions of the perception data points to obtain at least one projection line cluster perception data point cluster, wherein each projection line cluster corresponds to a projection line cluster perception data point cluster. The line cluster information of each projection line cluster can be determined based on the projection line cluster perception data point cluster corresponding to the projection line cluster. For example, the position information of the key perception data points of the projection line cluster can be determined based on the two-dimensional coordinates of one or more perception data points of the corresponding projection line cluster perception data point cluster on the projection surface, or based on the area information of some or all perception data points in the corresponding projection line cluster perception data point cluster on the projection surface, such as the two-dimensional coordinates of the center point on the projection surface, the radius of the minimum enclosing circle of the projection area (such as r in FIG12 ), or the length and width information of the minimum border of the projection area (such as h and w in FIG12 ). The line length information can be determined based on the range of the third-dimensional coordinate (z) corresponding to the corresponding projection line cluster perception data point cluster, such as the maximum and minimum values ​​of the corresponding third-dimensional coordinate.

[0133] It should be noted that the projection area can be in the form of a line segment in addition to a circle or rectangle. The above projection area identification is only an example. In addition, when restoring the endpoints of the line cluster, the endpoint positions of the line cluster can be restored by sampling points within the projection area, and the endpoint positions can also be restored by sampling points at the area boundary.

[0134] In some implementations, considering that the target object has contour lines that are not vertical or approximately vertical to the projection surface, at least one non-projection line cluster can be determined based on multiple key perception data points corresponding to at least one projection line cluster (such as perception data points located at the endpoints of the line cluster, etc.) to obtain line cluster information of the non-projection line cluster.

[0135] As an example: for each projection line cluster, the first communication device may determine the endpoints of the projection cluster corresponding to the two end values ​​according to the two end values ​​of the distance distribution between the perception data points corresponding to the projection line cluster and the projection surface. The upper endpoint may be determined based on at least one two-dimensional coordinate (such as x and y) of the projection of the projection line cluster on the projection plane, combined with the maximum distance (such as z) between the perception data points corresponding to the projection line cluster and the projection surface. max ) is determined; for the lower endpoint, it can be determined based on at least one two-dimensional coordinate (such as x and y) of the projection line cluster on the projection plane, combined with the minimum distance (such as z) between the perception data point corresponding to the projection line cluster and the projection surface. min )Sure.

[0136] For the upper endpoints and lower endpoints of the plurality of projection line clusters, the first communication device may connect the upper endpoints of the plurality of projection line clusters in pairs and the lower endpoints of the plurality of projection line clusters in pairs to obtain a plurality of predicted non-projection line clusters.

[0137] In addition, it is understandable that the boundary points (or contour boundary points) of the target object can also be used to predict non-projection line clusters. For example, a concave-convex detection algorithm can be used to identify the boundary points (i.e., boundary perception data points) in the perception data points of the target object; or the plane where multiple projection distance values ​​are located can be divided according to different projection distance values ​​in the vertical direction of the projection surface to identify the boundary points in the perception data points falling on the plane; or the plane can be divided with the projection distance values ​​of multiple upper and lower endpoints of the projection line cluster to identify the boundary points in the perception data points falling on the plane. Among them, when determining the boundary points of the target object, one or more of the above-mentioned determination methods can be used to determine the boundary points of the target object, or other methods can be used to determine the boundary points of the target object. This application does not limit this. By connecting the boundary points in pairs, a predicted non-projection line cluster can also be obtained.

[0138] For any predicted non-projection line cluster, W sampling points can be sampled (e.g., uniformly) on the predicted non-projection line cluster, and the neighboring perception data points of the W sampling points are determined from the perception data points of the target object. The average distance L between the W sampling points and the neighboring perception data points of the W sampling points is i When the value is less than the fourth threshold T4, it is determined that the non-projection line cluster exists. If the non-projection line cluster exists, the line cluster information of the non-projection line cluster can be determined according to the endpoint information of the non-projection line cluster.

[0139] It is also understandable that the endpoints of the non-projection line cluster can be fine-tuned: for example, after predicting that it is a non-projection line cluster, the perception data points adjacent to the perception data points on the non-projection line cluster can be included, and the area of ​​the endpoint can be adjusted after fusing other perception data points; or after fusing other perception data points, the projection plane (or projection direction) can be calculated, and the projection point cluster is obtained by projection, and the projection point range will be adjusted to the minimum enclosing area of ​​the new cluster.

[0140] The above is introduced using the projection plane as the XOY plane in the Cartesian coordinate system as an example. It can be understood that the projection plane can also be the YOZ plane, XOZ plane or other planes in the Cartesian coordinate system, that is, the projection direction (or first direction) can also be a direction perpendicular to the YOZ plane, XOZ plane or other planes in the Cartesian coordinate system.

[0141] In some implementations, if the first communication device and the second communication device have not agreed on a projection surface, or the second communication device has not indicated the projection surface to the first communication device, or the projection surface has not been configured for the first communication device and the second communication device through an agreement, when the projection surface (or projection direction) is determined by the first communication device, the first communication device may also report the information of the projection surface to the second communication device. For example: the first communication device may extract any point on the projection surface as the origin O(xo ,y o ,z o ), and determine the direction vectors of the two axes on the projection surface (n x ,n y ), the information of the projection surface may include the coordinates of the origin O and the direction vectors of the two coordinate axes on the projection surface {(x o ,y o ,z o ),(n x ,n y )}, taking the projection plane as the XOY plane in the Cartesian coordinate system as an example, the above two coordinate axes are the X-axis (abscissa axis) and the Y-axis (ordinate axis).

[0142] Taking the target object corresponding to m projection line clusters and k non-projection line clusters (also called other line clusters) as an example, in the embodiment of the present application, the line cluster information may include the line cluster information of the m projection line clusters and the line cluster information of the k non-projection line clusters. The line cluster information of the projection line cluster may include the center point coordinates (x, y) of the projection line cluster on the projection surface, the radius information (r) of the minimum enclosing circle of the projection area or the length and width information (h and w) of the frame, and the distance values ​​from the two ends of the line cluster to the projection surface: (z min ,z max ). It can be understood that when r or (w, h) is 0, the line cluster has only one projection position on the projection plane, and the line cluster may only include one line (or line segment).

[0143] The transmission format of the center point coordinates of m projection line clusters on the projection surface can be {(x1, x2, ..., x m ),(y1,y2,…,y m )}, where the center point coordinates of the m projection line clusters on the projection surface can be entropy coded separately in each dimension or can be coded together, which is not limited in this application.

[0144] The radius information (r) of the minimum enclosing circle of m projection line clusters or the length and width information (h and w) of the border can be sent in the form of {(r1, r2, ..., r m )}, or {(w1,w2,…,w m ),(h1,h2,…,h m )}, or the above two forms of quantitative data.

[0145] For m projection line clusters, the distance between the two ends of the cluster and the projection surface (z min ,z max ), can be sent in the following forms: Form 1: {(z min_1 ,z min_2 ,…,z min_m ),(z max_1 ,zmax_2 ,…,z max_m )}; or form 2: same as z min and z max The clusters can record the index and extract them together. For example, the indexes corresponding to each projection cluster are u1, u2, ..., u m , the corresponding z min and z max are the same, you can use {index (u1,u2,…,u m ),(z min ,z max )} in the form of.

[0146] In addition, as shown in Figure 13, both ends of the m projection line clusters can be indexed in a certain order. For example, the indexes of the 2m endpoints of the m projection line clusters can be assigned in a clockwise order, starting with the upper end and ending with the lower end. Alternatively, the indexes of the 2m endpoints of the m projection line clusters can be assigned in a clockwise order, starting with the lower end and ending with the upper end. For non-projection line clusters, their cluster information can include the indexes of their endpoints.

[0147] For k non-projection line clusters, the endpoint indices {(v 1_1 ,v 1_2 ),(v 2_1 ,v 2_2 ),…,(v k_1 ,v k_2 )}.

[0148] Of course, the two ends of the m projection line clusters can also be assigned indexes in a certain order. For example, the indexes of the m upper endpoints and the indexes of the m lower endpoints of the m projection line clusters can be assigned in a clockwise order. The endpoint indexes of the non-projection line clusters corresponding to the upper endpoints and the endpoint indexes of the non-projection line clusters corresponding to the lower endpoints in the k non-projection line clusters can be sent in layers. For example, layer 1 sends the endpoint index of the non-projection line cluster corresponding to the upper endpoint of the k non-projection line clusters. Layer 1: {(v 1_1 ,v 1_2 ),(v 2_1 ,v 2_2 )…}, layer 2 sends k non-projection line clusters corresponding to the endpoints of the non-projection line clusters of the lower endpoints layer 2: {(w 1_1 ,w 1_2 ),(w 2_1 ,w 2_2 )…}.

[0149] In another possible implementation, the first direction may also refer to a normal vector of the sensing data point, and the first communication device may obtain line cluster information by performing clustering based on the normal vector of the sensing data point.

[0150] As an example: the first communication device can cluster the perception data points of the target object (such as non-surface perception data points) based on the normal vectors of the perception data points to obtain at least one perception data point cluster, wherein the normal vectors of the perception data points in any perception data point cluster are the same or similar. For any perception data point cluster, if the number of perception data points included in the perception data point cluster is greater than a set threshold (such as a second threshold), the first communication device can determine that the perception data points in the perception data point cluster are perception data points on a line cluster, and can determine the line cluster information of the line cluster corresponding to the perception data point cluster based on the perception data point cluster.

[0151] S403: The first communication device sends data to the second communication device, and correspondingly, the second communication device receives the data.

[0152] In an embodiment of the present application, the data sent by the first communication device to the second communication device may be data determined based on the line cluster information and / or surface information of the target object, such as data including the line cluster information and / or surface information of the target object, or data obtained by processing the line cluster information and / or surface information using one or more compression methods such as entropy coding and quantization compression.

[0153] In one possible implementation, the first communication device may further determine point information based on perception data points of the target object that are not located on the surface and / or line cluster, for example, by compressing the perception data points of the target object that are not located on the surface and / or line cluster using a 2D projection compression method or a KD tree compression method to obtain the point information. The data transmitted by the first communication device to the second communication device may also be determined based on the point information, for example, including the point information.

[0154] S404: The second communication device decompresses the received data to obtain perception data of the target object.

[0155] It can be understood that the second communication device decompresses the received data to obtain the perception data of the target object (such as a set of perception data points). This is not the perception data of the target object (such as a set of perception data points) acquired by the first communication device through scanning or other means, but the perception data restored by the second communication device based on the information of a limited number of perception data points recorded in the received data (such as the boundary perception data point position information of the corresponding surface information) and the algorithm (such as the sampling algorithm). It is precisely because only a limited amount of perception data is transmitted that the air interface overhead between the first communication device and the second communication device can be greatly reduced.

[0156] Exemplarily: the surface information may include the three-dimensional coordinates of the boundary perception data points corresponding to the M surfaces respectively. The second communication device can restore the boundary areas of the M surfaces based on the three-dimensional coordinates of the boundary perception data points corresponding to the M surfaces respectively, and sample the perception data points on the M surfaces within the boundary areas of the M surfaces.

[0157] For example, the line cluster information includes the projection area information (such as the center point two-dimensional coordinates and r) and line length information (such as z min ,z max ), the second communication device can restore the boundary areas of the m projection line clusters based on the line cluster information, and sample the perception data points on the m projection line clusters within the boundary areas of the m projection line clusters.

[0158] In some implementations, the second communication device may further send a compression configuration to the first communication device, and the first communication device may further generate and send compressed data according to the compression configuration.

[0159] FIG14 shows a second method for sensing data transmission provided by this application, which includes:

[0160] S1401: The second communication device sends configuration information to the first communication device, and correspondingly, the first communication device receives the configuration information.

[0161] In an embodiment of the present application, the configuration information may also be referred to as a compression configuration, and the configuration information may be used to indicate one or more of the first threshold, second threshold, third threshold, or fourth threshold used to process the perception data points.

[0162] It can be understood that one or more of the above-mentioned first threshold, second threshold, third threshold or fourth threshold, etc. can also be predefined by the communication system, or predefined by the communication protocol, or preconfigured when the first communication device and the second communication device leave the factory. If the second communication device does not send configuration information to the first communication device, the first communication device can process the perception data points of the target object based on the preconfigured or predefined first threshold, second threshold, third threshold or fourth threshold, etc.; or if the second communication device only indicates part of the thresholds (such as the second threshold) through the configuration information, the first communication device can continue to use the preconfigured or predefined thresholds for the part of the thresholds (such as the second threshold) not indicated by the configuration information.

[0163] In some implementations, the configuration information may also indicate whether the compressed data (i.e., data sent by the first communication device to the second communication device) is determined based on line cluster information, or based on surface information, or based on line cluster information and surface information. That is, the configuration information may also indicate whether the first communication device sends the surface information, line cluster information, or surface information and line cluster information of the target object to the second communication device, etc.

[0164] As an example: the configuration information may include a level (Level) field. When the value of Level is 1 (Level1), the first communication device can perform compression based on points. For example, the first communication device can directly determine the point information based on all the perception data points of the target object, and determine the compressed data based on the point information. Point-based compression can achieve high-precision transmission of the perception data points of the target object.

[0165] When the Level value is 2 (Level 2), the first communication device can perform compression based on both points and surfaces. For example, the first communication device can determine surface information based on sensory data points on a surface, determine point information based on sensory data points not on a surface, and then generate compressed data based on the point information and surface information. Point-based compression achieves a balance between sensory data point transmission performance and compression performance.

[0166] When the Level value is 3 (Level 3), the first communication device can perform compression based on point + surface + line. For example, the first communication device can determine surface information based on the sensed data points on the surface, determine line cluster information based on the sensed data points on the line cluster, determine point information based on the sensed data points on non-surfaces and non-line clusters, and obtain compressed data based on the surface information, line cluster information, and point information. Compression based on point + surface + line can achieve the most extreme compression.

[0167] When the Level value is 4 (Level 4), the first communication device can perform compression based on point + line. For example, the first communication device can determine line cluster information based on the sensed data points on the line cluster, determine point information based on the sensed data points on the non-line cluster, and obtain compressed data based on the line cluster information and point information. Point + line compression can achieve a balance between sensed data point transmission performance and compression performance.

[0168] In some implementations, surfaces can be further divided into planar and curved surfaces, and the compression configuration can further indicate a more detailed method for determining compressed data. For example, the Level value can be 5 (Level 5). When the Level value is 5 (Level 5), the first communication device can perform compression based on points + planes. For example, the first communication device can determine surface information based on sensed data points on a plane, determine point information based on sensed data points on a non-planar surface, and obtain compressed data based on the point information and surface information. The Level value can also be 6 (Level 6). When the Level value is 6 (Level 6), the first communication device can perform compression based on points + curved surfaces. For example, the first communication device can determine surface information based on sensed data points on a curved surface, determine point information based on sensed data points on a non-curved surface, and obtain compressed data based on the point information and surface information. The Level value can also be 7 (Level 7), 8 (Level 8), etc. When the Level value is 7 (Level 7), the first communication device can perform compression based on points + planes + lines. When the Level value is 8 (Level 8), the first communication device can perform compression based on points + curved surfaces + lines, and so on.

[0169] In some implementations, the configuration information may also indicate quantization bit (or quantization step) information, and the first communication device may also quantize one or more of the three-dimensional coordinates recorded by the perception data points, the radius information (r) of the line cluster, or the length and width information (h and w) of the line cluster based on the quantization bit information, wherein the number of quantization bits during quantization is positively correlated with the quantization accuracy.

[0170] S1402: The first communication device sends compressed data to the second communication device, and correspondingly, the second communication device receives the compressed data.

[0171] Exemplarily, the first communication device may process the acquired perception data points of the target object to obtain one or more of the following: line cluster information, surface information, and point information of the target object. The specific implementation of the first communication device processing the acquired perception data points of the target object to obtain one or more of the following: line cluster information, surface information, and point information of the target object can be referenced to the implementation in FIG3 and will not be further described.

[0172] It can be understood that if the second communication device sends configuration information to the first communication device, the threshold (such as the first threshold, etc.) used by the first communication device when processing the acquired perception data points of the target object can be determined according to the threshold (such as the first threshold, etc.) indicated by the configuration information. In addition, the first communication device can also determine how to process the acquired perception data points of the target object according to the indication of the configuration information (such as Level).

[0173] As shown in Figure 15, the compressed data may include one or more items of the first field, the second field and the third field. The first field may include compressed information corresponding to the line cluster information, such as the key perception data point position information corresponding to the line cluster information, or the key perception data point position information and line length information; the second field may include compressed information corresponding to the surface information, such as the key perception data point position information corresponding to the surface information; the third field includes the point information of the target object, where the point information can be obtained by compressing the perception data points of the target object except the perception data points corresponding to the line cluster information and / or surface information.

[0174] S1403: The second communication device decompresses the compressed data to obtain perception data of the target object.

[0175] Specifically, the implementation of S1403 may refer to the implementation of S404 described above, and will not be described in detail.

[0176] In some implementations, the second communication device may further send instruction information to the first communication device, instructing the first communication device to filter / select the acquired perception data (or perception data points).

[0177] In a possible implementation, the second communication device may send first indication information to the first communication device, where the first indication information may be used to indicate a target object set or a non-target object set, wherein the target object belongs to the target object set.

[0178] For example, the target object set may refer to a set of objects (or instances) required by the second communication device, such as a shopping mall, a house, a bridge, etc.; the non-target object set may refer to a set of objects (or instances) not required by the second communication device, such as the ground, a corridor, etc. Based on the first indication information, the first communication device may process only the perception data points of the target objects required by the second communication device and report the corresponding compressed data, thereby avoiding unnecessary signaling and processing resource overhead.

[0179] In another possible design, the second communication device may send second indication information to the first communication device, where the second indication information indicates the maximum cutoff height h of the target object. max , minimum cutoff height of target object h min , one or more of the position information of the non-target line cluster, or the position information of the non-target surface.

[0180] Non-target line cluster information may refer to the position (or orientation) information of the non-target line cluster relative to the first communication device, or the position area information of the non-target line cluster in space; non-target surface information may refer to the position (or orientation) information of the non-target surface relative to the first communication device, or the position area information of the non-target surface in space. The first communication device may exclude the line cluster information of the line clusters not needed by the second communication device based on the non-target line cluster information, exclude the surface information of the surface not needed by the second communication device based on the non-target surface information, exclude the perception data points above the maximum cutoff height of the target object not needed by the second communication device based on the maximum cutoff height of the target object, and exclude the perception data points below the minimum cutoff height of the target object not needed by the second communication device based on the minimum cutoff height of the target object.

[0181] In some implementations, the first communication device can also filter out overly detailed or tiny surfaces or line clusters corresponding to the target object, such as filtering out the surface information of surfaces whose corresponding number of perception data points is less than a set threshold, or the line cluster information of line clusters, to reduce the signaling overhead of compressed data transmission.

[0182] The perceptual data transmission method provided by this application can effectively reduce the amount of transmitted data. Take the simulation configuration 1 including the following scheme as an example:

[0183] Draco scheme: Kd tree compression, quantization bits 8 to 16;

[0184] Projection (Proj) scheme: Plane projection + Lempel-Ziv-Markov chain-Algorithm (LZMA) algorithm. For example, a compression scheme based on 2D projection, where the fill value at each projection position can be compressed using the LZMA algorithm, with quantization bits ranging from 4 to 9.

[0185] Compression method 1 (Ours1) of this scheme: Plane + Point, which determines the surface information based on the perception data points located on the plane. For the perception data points not located on the plane, a projection-based compression scheme is used, such as a compression scheme based on 2D projection, with quantization bits of 4 to 9.

[0186] Compression method 2 (Ours2) of this scheme: plane + line + point, determines surface information based on the perception data points located on the plane, and determines line cluster information based on the perception data points located on the line cluster. For the perception data points not located on the plane and not on the line cluster, a projection-based compression scheme is used, such as a compression scheme based on 2D projection, with quantization bits of 4 to 9.

[0187] Referring to the simulation result schematic diagrams of Figures 16A and 16B, the horizontal axis of Figure 16A represents the compression ratio, and the vertical axis represents the Hausdorff distance corresponding to the original target object's perception data points and the compressed and restored perception data points, where the Hausdorff distance can be called H performance; the horizontal axis of Figure 16B represents the compression ratio, and the vertical axis represents the chamfer distance corresponding to the original target object's perception data points and the compressed and restored perception data points. In addition, in Figures 16A and 16B, w / o represents the scheme of directly transmitting the target object's perception data points, that is, the scheme with a compression ratio of 0. From Figures 16A and 16B, as well as the compression ratio of compression method 2 of this scheme shown in Figures 17, it can be seen that through this scheme, while maintaining the H performance and the chanfer distance performance basically unchanged, the compression ratio can be increased from about 10+ times that of the Draco scheme and the Proj scheme to 50+ times.

[0188] Take the simulation configuration 2 as an example, which includes the following scheme:

[0189] Draco scheme: Kd tree compression, quantization bits 4 to 9;

[0190] Projection (Proj) scheme: Plane projection + LZMA algorithm. For example, a compression scheme based on 2D projection, where the fill value at each projection position can be compressed based on the LZMA algorithm, with quantization bits of 3 to 8.

[0191] Compression method 1 (Ours1) of this scheme: Plane + Point, which determines the surface information based on the perception data points located on the plane. For the perception data points not located on the plane, a projection-based compression scheme is used, such as a compression scheme based on 2D projection, with quantization bits of 3 to 8.

[0192] Compression method 2 (Ours2) of this scheme: plane + line + point, determines surface information based on the perception data points located on the plane, and determines line cluster information based on the perception data points located on the line cluster. For the perception data points not located on the plane and not on the line cluster, a projection-based compression scheme is used, such as a compression scheme based on 2D projection, with quantization bits of 3 to 8.

[0193] Referring to the simulation result schematic diagrams of Figures 18A and 18B, the horizontal axis of Figure 18A represents the compression ratio, and the vertical axis represents the Hausdorff distance corresponding to the original target object's perception data points and the compressed and restored perception data points, where the Hausdorff distance can be called H performance; the horizontal axis of Figure 18B represents the compression ratio, and the vertical axis represents the chamfer distance corresponding to the original target object's perception data points and the compressed and restored perception data points. In addition, in Figures 18A and 18B, w / o represents the scheme of directly transmitting the target object's perception data points, that is, the scheme with a compression ratio of 0. From Figures 18A and 18B, as well as the compression ratio of compression method 2 of this scheme shown in Figures 19, it can be seen that through this scheme, while maintaining the H performance and the chanfer distance performance basically unchanged, the compression ratio can be increased from about 25 of the Draco scheme and the Proj scheme to more than 80 times.

[0194] The following describes the communication device provided in an embodiment of the present application. Please refer to Figure 20, which is a schematic diagram of the structure of the communication device in an embodiment of the present application. The communication device may include units or modules corresponding to all or part of the steps in the above-mentioned method embodiment, and may be used to execute the steps performed by the first communication device or the second communication device in the above-mentioned method embodiment. For details, please refer to the relevant description in the above-mentioned method embodiment.

[0195] As shown in Figure 20, communication device 2000 includes a processing unit 2010 and an interface unit 2020. Processing unit 2010 may be a processor or processing circuit, and interface unit 2020 may be a transceiver unit or an input / output interface. Communication device 2000 may be used to implement the steps performed by the first communication device or the second communication device in the above embodiments.

[0196] When the communication device 2000 is used to implement the steps performed by the first communication device in the above embodiment:

[0197] The processing unit 2010 is used to obtain perception data points for the target object; and to perform data compression on the perception data points of the target object to obtain line cluster information and / or surface information of the target object, where the surface information is determined based on each perception data point and its neighboring perception data points, and the line cluster information is determined based on the perception data points corresponding to the first direction, wherein the perception data points corresponding to the first direction are the perception data points of the target object except the perception data points corresponding to the surface information; the interface unit 2020 is used to send data to the second communication device, where the data is determined based on the line cluster information and / or surface information.

[0198] In one possible design, the data sent includes a first field and / or a second field, the first field includes the endpoint position information of the line cluster corresponding to the line cluster information, or the endpoint position information of the line cluster and the line length information of the line cluster, and the second field includes the boundary point position information of the surface corresponding to the surface information.

[0199] In one possible design, the transmitted data also includes a third field, which includes point information of the target object. The point information is determined based on the perception data points of the target object except for the perception data points corresponding to the line cluster information and / or surface information.

[0200] In one possible design, the face information is determined based on a distance between each perception data point and a neighboring perception data point corresponding to each perception data point and a first threshold.

[0201] In a possible design, the first direction is a projection direction of the perception data point, and the line cluster information is determined according to the number of perception data points corresponding to each projection position and a second threshold.

[0202] In one possible design, the interface unit 2020 is further used to receive configuration information from the second communication device, where the configuration information indicates the first threshold and / or the second threshold.

[0203] In a possible design, the configuration information is further used to indicate whether the data is determined based on line cluster information, or based on surface information, or based on line cluster information and surface information.

[0204] In one possible design, the interface unit 2020 is further used to receive first indication information from the second communication device, where the first indication information is used to indicate a target object set or a non-target object set, where the target object belongs to the target object set.

[0205] In one possible design, the interface unit 2020 is also used to receive second indication information from a second communication device, the second indication information indicating one or more of the maximum cutoff height of the target object, the minimum cutoff height of the target object, the position information of the non-target line cluster, or the position information of the non-target surface, wherein the perception data point of the target object is the perception data point below the maximum cutoff height of the corresponding target object, or the perception data point of the target object is the perception data point above the minimum cutoff height of the corresponding target object, the line cluster corresponding to the line cluster information is the line cluster other than the non-target line cluster of the target object, and the surface corresponding to the surface information is the surface other than the non-target surface of the target object.

[0206] In one possible design, the processing unit 2010 performs data compression on the perception data points of the target object to obtain the surface information of the target object, and is specifically used to cluster the perception data points of the target object located on the surface to obtain at least one surface perception data point cluster, wherein the distance between each perception data point located on the surface and its neighboring perception data points is less than a first threshold; and the surface information is determined based on the at least one surface perception data point cluster.

[0207] In one possible design, the processing unit 2010 performs data compression on the perception data points of the target object to obtain line cluster information of the target object, which is specifically used to determine the projection position of the perception data points of the target object on the projection surface; for each projection position on the projection surface, when the number of perception data points corresponding to the projection position is greater than a second threshold, it is determined that the perception data point corresponding to the projection position is located on the projection line cluster; the perception data points of the target object located on the projection line cluster are clustered to obtain at least one projection line cluster perception data point cluster; and the line cluster information is determined based on at least one projection line cluster perception data point cluster.

[0208] In one possible design, the processing unit 2010 is also used to determine the distance from the perception data point of the target object to the projection surface; and specifically to determine, for each projection position on the projection surface, that the perception data point of the corresponding projection position is located on the projection line cluster when the number of perception data points corresponding to the projection position is greater than a second threshold and the difference in the distances between any two adjacent perception data points of the corresponding projection position and the projection surface is less than a third threshold.

[0209] In one possible design, when the processing unit 2010 determines the line cluster information based on the clustering of data points perceived by at least one projection line cluster, it is specifically used to determine the line cluster information based on the clustering of data points perceived by at least one projection line cluster and at least one non-projection line cluster, wherein the at least one non-projection line cluster is determined based on multiple endpoints corresponding to the at least one projection line cluster.

[0210] When the communication device 2000 is used to implement the steps performed by the second communication device in the above embodiment:

[0211] The interface unit 2020 is used to receive data from the first communication device, where the data is determined based on the line cluster information and / or surface information of the target object, the surface information is determined based on the perception data points of the target object and the neighboring perception data points corresponding to the perception data points, and the line cluster information is determined based on the perception data points corresponding to the first direction, wherein the perception data points corresponding to the first direction are the perception data points of the target object excluding the perception data points corresponding to the surface information; the processing unit 2010 is used to decompress the received data to obtain the perception data of the target object.

[0212] In one possible design, the received data includes a first field and / or a second field, the first field includes the endpoint position information of the line cluster corresponding to the line cluster information, or the endpoint position information of the line cluster and the line length information of the line cluster, and the second field includes the boundary point position information of the surface corresponding to the surface information.

[0213] In one possible design, the received data also includes a third field, which includes point information of the target object. The point information is determined based on the perception data points of the target object except for the perception data points corresponding to the line cluster information and / or surface information.

[0214] In one possible design, the face information is determined based on a distance between a perception data point and a neighboring perception data point corresponding to the perception data point and a first threshold.

[0215] In a possible design, the first direction is a projection direction of the perception data point, and the line cluster information is determined according to the number of perception data points corresponding to each projection position and a second threshold.

[0216] In one possible design, the interface unit 2020 is further used to send configuration information to the first communication device, where the configuration information indicates the first threshold and / or the second threshold.

[0217] In a possible design, the configuration information is further used to indicate whether the data is determined based on line cluster information, or based on surface information, or based on line cluster information and surface information.

[0218] In one possible design, the interface unit 2020 is further used to send first indication information to the first communication device, where the first indication information is used to indicate a target object set or a non-target object set, where the target object belongs to the target object set.

[0219] In one possible design, the interface unit 2020 is also used to send second indication information to the first communication device, the second indication information indicating one or more of the maximum cutoff height of the target object, the minimum cutoff height of the target object, the position information of the non-target line cluster, or the position information of the non-target surface, wherein the perception data point of the target object is the perception data point below the maximum cutoff height of the corresponding target object, or the perception data point of the target object is the perception data point above the minimum cutoff height of the corresponding target object, the line cluster corresponding to the line cluster information is the line cluster other than the non-target line cluster of the target object, and the surface corresponding to the surface information is the surface other than the non-target surface of the target object.

[0220] As shown in Figure 21, the present application also provides a communication device 2100, which includes a processor 2110 and may also include a communication interface 2120. The processor 2110 and the communication interface 2120 are coupled to each other. It is understandable that the communication interface 2120 can be a transceiver, an input / output interface, an input interface, an output interface, an interface circuit, etc. Optionally, the communication device 2100 may also include a memory 2130 for storing instructions executed by the processor 2110 or storing input data required by the processor 2110 to execute instructions or storing data generated after the processor 2110 executes instructions. The memory 2130 may be a physically independent unit coupled to the processor 2110, or the processor 2110 and the memory 2130 may be integrated together.

[0221] When the communication device 2100 is used to implement the steps performed by the first communication device and the second communication device in the above embodiments, the processor 2110 can be used to implement the functions of the above processing unit 2010, and the communication interface 2120 can be used to implement the functions of the above interface unit 2020.

[0222] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), logic circuits, field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0223] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal device. Of course, the processor and the storage medium can also be present in a network device or a terminal device as discrete components.

[0224] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer program or instructions can be transmitted from one network device, terminal, computer, server, or data center to another network device, terminal, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video disk; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0225] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0226] Furthermore, it should be understood that in the embodiments of this application, the word "exemplary" is used to indicate an example, illustration, or description. Any embodiment or design described in this application as "exemplary" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner.

[0227] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A method for transmitting sensed data, characterized in that, Applied to a first communication device, including: Obtain sensed data points for a target object; Perform data compression on the sensed data points of the target object to obtain line cluster information and / or surface information of the target object, where the surface information is determined based on the sensed data points and their corresponding neighboring sensed data points, and the line cluster information is determined based on the sensed data points corresponding to a first direction. Among them, the sensed data points corresponding to the first direction are the sensed data points of the target object except for the sensed data points corresponding to the surface information; Send data to a second communication device, where the data is determined based on the line cluster information and / or surface information.

2. The method according to claim 1, characterized in that, The data includes a first field and / or a second field; The first field includes the endpoint position information of the line cluster corresponding to the line cluster information, or the endpoint position information of the line cluster and the line length information of the line cluster; The second field includes the boundary point position information and / or surface parameter information of the surface corresponding to the surface information.

3. The method according to claim 2, characterized in that, The data further includes a third field, and the third field includes the point information of the target object, where the point information is determined based on the sensed data points of the target object except for the sensed data points corresponding to the line cluster information and / or surface information.

4. The method according to any one of claims 1 to 3, characterized in that, The surface information is determined based on the distance between the sensed data points and their corresponding neighboring sensed data points and a first threshold; And / or The first direction is the projection direction of the sensed data points, and the line cluster information is determined based on the number of sensed data points corresponding to each projection position and a second threshold.

5. The method according to claim 4, wherein The method further includes: Receive configuration information from the second communication device, where the configuration information indicates the first threshold and / or the second threshold.

6. The method according to claim 5, wherein The configuration information further indicates that the data is determined based on the line cluster information, or based on the surface information, or based on the line cluster information and the surface information.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Receive first indication information from a second communication device, where the first indication information is used to indicate a target object set or a non-target object set, and the target object belongs to the target object set.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Receive second indication information from a second communication device, where the second indication information indicates one or more of the maximum cut-off height of the target object, the minimum cut-off height of the target object, the position information of the non-target line cluster, or the position information of the non-target surface. Among them, the sensed data points of the target object are the sensed data points below the maximum cut-off height corresponding to the target object, or the sensed data points of the target object are the sensed data points above the minimum cut-off height corresponding to the target object. The line cluster corresponding to the line cluster information is the line cluster of the target object except for the non-target line cluster, and the surface corresponding to the surface information is the surface of the target object except for the non-target surface.

9. The method according to claim 4, wherein Performing data compression on the sensed data points of the target object to obtain the surface information of the target object includes: Cluster the sensed data points of the target object located on the surface to obtain at least one surface sensed data point cluster, where the distance between each sensed data point located on the surface and its corresponding neighboring sensed data points is less than the first threshold; Determine the surface information based on the at least one surface sensed data point cluster.

10. The method according to claim 4 or 9, characterized in that Perform data compression on the sensed data points of the target object to obtain the line cluster information of the target object, including: Determine the projection positions of the sensed data points of the target object on the projection surface; For each projection position on the projection surface, when the number of sensed data points corresponding to the projection position is greater than the second threshold, determine that the sensed data points corresponding to the projection position are located on the projection line cluster; Cluster the sensed data points of the target object located on the projection line cluster to obtain at least one projection line cluster sensed data point cluster; Determine the line cluster information based on the at least one projection line cluster sensed data point cluster.

11. The method according to claim 10, characterized in that, The method further includes: determining the distance from the sensed data points of the target object to the projection surface; The step of, for each projection position on the projection surface, when the number of sensed data points corresponding to the projection position is greater than the second threshold, determining that the sensed data points corresponding to the projection position are located on the projection line cluster includes: For each projection position on the projection surface, when the number of sensed data points corresponding to the projection position is greater than the second threshold and the difference in the distances from any two adjacent sensed data points corresponding to the projection position to the projection surface is less than the third threshold, determine that the sensed data points corresponding to the projection position are located on the projection line cluster.

12. The method according to claim 10 or 11, characterized in that The step of determining the line cluster information based on the at least one projection line cluster includes: Determine the line cluster information based on the at least one projection line cluster sensed data point cluster and at least one non - projection line cluster, where the at least one non - projection line cluster is determined based on the multiple end points corresponding to the at least one projection line cluster and / or the boundary points of the target object.

13. A method for transmitting sensed data, characterized in that, Applied to a second communication device, it includes: Receive data from a first communication device, where the data is determined based on the line cluster information and / or surface information of the target object, the surface information is determined based on the sensed data points of the target object and their corresponding neighboring sensed data points, and the line cluster information is determined based on the sensed data points corresponding to the first direction, where the sensed data points corresponding to the first direction are the sensed data points of the target object except for the sensed data points corresponding to the surface information; Decompress the data to obtain the sensed data of the target object.

14. The method according to claim 13, wherein The data includes a first field and / or a second field; The first field includes the end - point position information of the line corresponding to the line cluster information, or the end - point position information of the line and the line length information of the line; The second field includes the boundary - point position information of the surface corresponding to the surface information and / or surface parameter information.

15. The method according to claim 14, wherein The data further includes a third field, and the third field includes point information of the target object, where the point information is determined based on the sensed data points of the target object other than the sensed data points corresponding to the line cluster information and / or the plane information.

16. The method according to any one of claims 13-15, characterized in that, The plane information is determined based on the distance between the sensed data point and the neighboring sensed data point corresponding to the sensed data point and a first threshold; and / or, The first direction is the projection direction of the sensed data point, and the line cluster information is determined based on the number of sensed data points corresponding to each projection position and a second threshold.

17. The method according to claim 16, wherein The method further includes: Sending configuration information to the first communication device, where the configuration information indicates the first threshold and / or the second threshold.

18. The method according to claim 17, wherein The configuration information is further used to indicate that the data is determined based on the line cluster information, or based on the plane information, or based on the line cluster information and the plane information.

19. The method according to any one of claims 13-18, characterized in that, The method further includes: Sending first indication information to the first communication device, where the first indication information is used to indicate a set of target objects or a set of non-target objects, and the target object belongs to the set of target objects.

20. The method according to any one of claims 13-19, characterized in that, The method further includes: Sending second indication information to the first communication device, where the second indication information indicates one or more of the maximum cut-off height of the target object, the minimum cut-off height of the target object, the position information of the non-target line cluster, or the position information of the non-target plane. The sensed data points of the target object are the sensed data points below the maximum cut-off height of the target object, or the sensed data points of the target object are the sensed data points above the minimum cut-off height of the target object. The line cluster corresponding to the line cluster information is the line cluster of the target object other than the non-target line cluster, and the plane corresponding to the plane information is the plane of the target object other than the non-target plane.

21. A communication device, characterized in that, It includes a processor and an interface circuit. The interface circuit is configured to receive signals from other communication devices outside the communication device and transmit them to the processor, or send signals from the processor to other communication devices outside the communication device. The processor is configured to implement the method according to any one of claims 1-20 through logic circuits or by executing instructions.

22. A computer program product, characterized in that, It contains a computer program or instructions. When the computer program or instructions are executed by a processor, the method according to any one of claims 1-20 is implemented.

23. A chip system, characterized in that, The chip system includes a processor, and the processor is configured to be coupled to a memory. The memory is configured to store a computer program or instructions. When the computer program or instructions are executed by the processor, the method according to any one of claims 1-20 is implemented.

24. A computer-readable storage medium, characterized in that, A computer program or instructions are stored in the storage medium. When the computer program or instructions are executed by a processor, the method according to any one of claims 1-20 is implemented.

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