Method and device for performing communication in wireless communication system

Abstract

Provided are a method by which a first device performs wireless communication and a device for supporting same. The method may comprise the steps of: acquiring front information of an object from a first device; acquiring rear information of the object from a second device; and acquiring information related to a bottom surface of the object on the basis of at least one of the front information of the object and the rear information of the object. For example, on the basis that the front information of the object includes information related to three vertices of the bottom surface, and on the basis that the rear information of the object includes information related to a vertex of the object different from the three vertices, information related to the bottom surface of the object may be acquired on the basis of the front information of the object and the rear information of the object.

Description

Method and device for performing communication in a wireless communication system

[0001] The present disclosure relates to a wireless communication system.

[0002] 5G NR, the successor to LTE (long-term evolution), is a new clean-slate mobile communications system characterized by high performance, low latency, and high availability. 5G NR can utilize all available spectrum resources, from low-frequency bands below 1 GHz, mid-frequency bands between 1 GHz and 10 GHz, and high-frequency (millimeter wave) bands above 24 GHz.

[0003] The 6G (wireless communication) system aims to achieve (i) very high data rates per device, (ii) a very large number of connected devices, (iii) global connectivity, (iv) very low latency, (v) low energy consumption for battery-free Internet of Things (IoT) devices, (vi) ultra-reliable connectivity, and (vii) connected intelligence with machine learning capabilities. The vision of the 6G system can be divided into four aspects: intelligent connectivity, deep connectivity, holographic connectivity, and ubiquitous connectivity, and the 6G system can satisfy the requirements as shown in Table 1 below. For example, Table 1 can represent an example of the requirements of a 6G system.

[0004] Maximum data rate per device: 1 Tbps, E2E latency: 1 ms, Maximum spectral efficiency: 100 bps / Hz, Mobility support: Up to 1000 km / hr, Satellite integration: Fully AI, Fully autonomous driving, Fully XR, Fully haptic communication

[0005] According to one embodiment of the present disclosure, a method may be provided. For example, the method may include: obtaining front information of an object from a first device; obtaining back information of the object from a second device; and obtaining information related to a bottom surface of the object based on at least one of the front information of the object and the back information of the object. For example, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object that are different from the three vertices, information related to the bottom surface of the object may be obtained based on the front information of the object and the back information of the object.

[0006] According to one embodiment of the present disclosure, a first device may be provided. For example, the first device may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, when executed by the at least one processor, may cause the first device to: obtain front information of an object from a first device; obtain back information of the object from a second device; and obtain information related to a bottom surface of the object based on at least one of the front information of the object or the back information of the object. For example, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object that are different from the three vertices, information related to the bottom surface of the object may be obtained based on the front information of the object and the back information of the object.

[0007] According to one embodiment of the present disclosure, a processing device configured to control a first device may be provided. For example, the processing device may include at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the first device to: obtain front information of an object from a first device; obtain back information of the object from a second device; and obtain information related to a bottom surface of the object based on at least one of the front information of the object or the back information of the object. For example, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object that are different from the three vertices, information related to the bottom surface of the object may be obtained based on the front information of the object and the back information of the object.

[0008] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having instructions recorded thereon may be provided. For example, the instructions, when executed, may cause a first device to: obtain front information of an object from the first device; obtain back information of the object from a second device; and obtain information related to a bottom surface of the object based on at least one of the front information of the object or the back information of the object. For example, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front information of the object and the back information of the object.

[0009] According to one embodiment of the present disclosure, a method may be provided. For example, the method may include: a step of a second device obtaining backside information of an object; and a step of the second device transmitting the backside information of the object to a first device. For example, information related to a bottom surface of the object may be obtained based on at least one of the front side information of the object or the backside information of the object. For example, based on the front side information of the object including information related to three vertices of the bottom surface, and based on the backside information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front side information of the object and the backside information of the object.

[0010] According to one embodiment of the present disclosure, a second device may be provided. For example, the second device may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the second device to: obtain information about the back surface of an object; and transmit the information about the back surface of the object to a first device. For example, information related to a bottom surface of the object may be obtained based on at least one of the front surface information of the object or the back surface information of the object. For example, based on the front surface information of the object including information related to three vertices of the bottom surface, and based on the back surface information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front surface information of the object and the back surface information of the object.

[0011] According to one embodiment of the present disclosure, a processing device configured to control a second device may be provided. For example, the processing device may include at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the second device to: obtain information about the back surface of an object; and transmit the information about the back surface of the object to a first device. For example, information related to a bottom surface of the object may be obtained based on at least one of the front surface information of the object or the back surface information of the object. For example, based on the front surface information of the object including information related to three vertices of the bottom surface, and based on the back surface information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front surface information of the object and the back surface information of the object.

[0012] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having instructions recorded thereon may be provided. For example, the instructions, when executed, may cause a second device to: obtain information about a back surface of an object; and transmit the information about the back surface of the object to a first device. For example, information related to a bottom surface of the object may be obtained based on at least one of the front surface information of the object or the back surface information of the object. For example, based on the front surface information of the object including information related to three vertices of the bottom surface, and based on the back surface information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front surface information of the object and the back surface information of the object.

[0013] Figure 1 illustrates a device-to-device communication procedure according to one embodiment of the present disclosure.

[0014] FIG. 2 illustrates a radio protocol architecture according to one embodiment of the present disclosure.

[0015] FIG. 3 illustrates the structure of a wireless frame according to one embodiment of the present disclosure.

[0016] FIG. 4 illustrates a slot structure of a frame according to one embodiment of the present disclosure.

[0017] FIG. 5 illustrates an example of a BWP according to one embodiment of the present disclosure.

[0018] FIG. 6 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure.

[0019] FIG. 7 illustrates an example of a communication scenario based on a 6G system according to one embodiment of the present disclosure.

[0020] FIGS. 8A and 8B illustrate a non-terrestrial network scenario according to one embodiment of the present disclosure.

[0021] FIG. 9 illustrates an example of a sensing operation according to one embodiment of the present disclosure.

[0022] FIG. 10 illustrates the relationship between RCS, range (D), and power according to one embodiment of the present disclosure.

[0023] FIG. 11 illustrates an example of an ISAC service according to one embodiment of the present disclosure.

[0024] FIG. 12 illustrates various integrated sensing and communication (ISAC) systems according to one embodiment of the present disclosure.

[0025] FIG. 13 is a diagram for comparing and explaining V2X communication based on RAT prior to NR and V2X communication based on NR according to one embodiment of the present disclosure.

[0026] FIG. 14 illustrates an example of an RSU1 camera observing P1 to P4 according to one embodiment of the present disclosure.

[0027] FIGS. 15a and 15b are diagrams for explaining changes in the measurement error range according to changes in the distance between the vehicle and the camera when observing the vehicle through a camera mounted on an RSU according to one embodiment of the present disclosure.

[0028] FIGS. 16a, 16b, and 16c illustrate coordinate transformation between an image plane and a real plane by homography according to one embodiment of the present disclosure.

[0029] FIGS. 17a, 17b, 17c, 17d, 17e, 17f, and 17g illustrate coordinate transformation between an image plane and a real plane by homography according to one embodiment of the present disclosure.

[0030] FIGS. 18a, 18b, and 18c illustrate coordinate transformation between an image plane and a real plane by homography according to one embodiment of the present disclosure.

[0031] FIGS. 19a, 19b, 19c, and 19d illustrate coordinate transformation between an image plane and a real plane by homography according to one embodiment of the present disclosure.

[0032] FIG. 20 illustrates a method for a first device to perform wireless communication according to one embodiment of the present disclosure.

[0033] FIG. 21 illustrates a method for a second device to perform wireless communication according to one embodiment of the present disclosure.

[0034] Fig. 22 illustrates a communication system (1) according to one embodiment of the present disclosure.

[0035] FIG. 23 illustrates a wireless device according to one embodiment of the present disclosure.

[0036] FIG. 24 illustrates a signal processing circuit for a transmission signal according to one embodiment of the present disclosure.

[0037] FIG. 25 illustrates a wireless device according to one embodiment of the present disclosure.

[0038] FIG. 26 illustrates a mobile device according to one embodiment of the present disclosure.

[0039] In this disclosure, "A or B" can mean "only A," "only B," or "both A and B." In other words, "A or B" in this disclosure can be interpreted as "A and / or B." For example, "A, B or C" in this disclosure can mean "only A," "only B," "only C," or "any combination of A, B and C."

[0040] As used herein, a slash ( / ) or a comma may mean "and / or." For example, "A / B" may mean "A and / or B." Accordingly, "A / B" may mean "only A," "only B," or "both A and B." For example, "A, B, C" may mean "A, B, or C."

[0041] In the present disclosure, “at least one of A and B” may mean “only A,” “only B,” or “both A and B.” Additionally, in the present disclosure, the expressions “at least one of A or B” or “at least one of A and / or B” may be interpreted identically to “at least one of A and B.”

[0042] Additionally, in the present disclosure, “at least one of A, B and C” can mean “only A,” “only B,” “only C,” or “any combination of A, B and C.” Additionally, “at least one of A, B or C” or “at least one of A, B and / or C” can mean “at least one of A, B and C.”

[0043] Additionally, parentheses used in the present disclosure may mean "for example." Specifically, when indicated as "control information (PDCCH)", "PDCCH" may be proposed as an example of "control information." In other words, "control information" in the present disclosure is not limited to "PDCCH," and "PDCCH" may be proposed as an example of "control information." Furthermore, even when indicated as "control information (e.g., PDCCH)", "PDCCH" may be proposed as an example of "control information."

[0044] In the following explanation, ‘when, if, in case of’ can be replaced with ‘based on’.

[0045] Technical features individually described in one drawing in this disclosure may be implemented individually or simultaneously.

[0046] In the present disclosure, higher layer parameters may be parameters set for the terminal, preset, or predefined. For example, a base station or network may transmit higher layer parameters to the terminal. For example, the higher layer parameters may be transmitted via radio resource control (RRC) signaling or medium access control (MAC) signaling.

[0047] In the present disclosure, "setting or defining" may be interpreted as being set or preset to a device through predefined signaling (e.g., SIB, MAC, RRC, DCI (downlink control information), etc.) from a base station or a network. In the present disclosure, "setting or defining" may be interpreted as being set or preset to a device through predefined signaling (e.g., MAC, RRC, SCI (sidelink control information), device-to-device signaling control information, etc.) from another device. In the present disclosure, "setting or defining" may be interpreted as being set or preset to a device.

[0048] In the present disclosure, a user equipment (UE) may refer to a device, a portable device, a wireless device, etc. In the present disclosure, a base station (BS) may refer to a radio access network (RAN) node, a non-terrestrial network (NTN) cell / node, a transmission reception point (TRP), a network, an integrated access and backhaul (IAB) node, a device, a portable device, a wireless device, etc.

[0049] The technology proposed in the present disclosure can be used in various wireless communication systems such as CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), and SC-FDMA (single carrier frequency division multiple access). CDMA can be implemented with wireless technologies such as UTRA (universal terrestrial radio access) or CDMA2000. TDMA can be implemented with wireless technologies such as GSM (global system for mobile communications) / GPRS (general packet radio service) / EDGE (enhanced data rates for GSM evolution). OFDMA can be implemented with wireless technologies such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, E-UTRA (evolved UTRA), LTE (long term evolution), and 5G NR.

[0050] The technology proposed in this disclosure can be implemented with 6G wireless technology and applied to various 6G systems. For example, 6G systems can have key factors such as enhanced mobile broadband (eMBB), ultra-reliable low latency communications (URLLC), massive machine-type communication (mMTC), artificial intelligence (AI) integrated communication, tactile internet, high throughput, high network capacity, high energy efficiency, low backhaul and access network congestion, and enhanced data security.

[0051] FIG. 1 illustrates a device-to-device communication procedure according to one embodiment of the present disclosure. The embodiment of FIG. 1 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0052] Referring to FIG. 1, in step S101, a first device and a second device can perform synchronization. For example, the first device can be a terminal and / or at least one of the devices proposed in the present disclosure. For example, the second device can be a base station, a network, a RAN node, an NTN node / cell, a TRP, a terminal and / or at least one of the devices proposed in the present disclosure. For example, the first device can perform an initial cell search operation. For example, the first device can detect at least one synchronization signal transmitted by the second device according to a predefined rule. Here, for example, the synchronization signal can include a plurality of synchronization signals classified according to a structure or purpose (e.g., a primary synchronization signal, a secondary synchronization signal, etc.). Through this, the first device can identify the boundaries of the frame, subframe, time unit, slot, and / or symbol of the second device, and the first device can obtain information about the second device (e.g., a cell identifier).

[0053] In step S103, the first device can obtain system information transmitted by the second device. For example, the system information may include information related to the properties, characteristics, and / or capabilities of the second device required to connect to the second device and use the service. For example, the system information may be classified according to content (e.g., whether it is essential for connection), transmission structure (e.g., the channel used, whether it is provided on-demand), etc. For example, the system information may be classified into a master information block (MIB) and a system information block (SIB). For example, if necessary, the first device may transmit a signal requesting system information before receiving the system information. For example, the request and provision of system information may be performed after a random access procedure described below.

[0054] In step S105, the first device and the second device can perform a random access procedure. For example, the first device can transmit and / or receive at least one message (e.g., a random access preamble, a random access response message, etc.) for the random access procedure based on information related to a random access channel of the second device obtained through system information (e.g., channel location, channel structure, structure of supported preamble, etc.). For example, the first device can transmit a preamble (e.g., Msg1) through the random access channel, the first device can receive a random access response message (e.g., Msg2), the first device can transmit a message (e.g., Msg3) including information related to the first device (e.g., identification information) to the second device using scheduling information included in the random access response message, and the first device can receive a message (e.g., Msg4) for contention resolution and / or connection establishment. For example, Msg1 and Msg3 can be sent and received as one message (e.g., MsgA), and / or Msg2 and Msg4 can be sent and received as one message (e.g., MsgB).

[0055] In step S107, the first device and the second device may perform signaling of control information. Here, for example, the control information may be defined in various layers, such as a layer that controls a connection (e.g., a radio resource control (RRC) layer), a layer that handles mapping between logical channels and transport channels (e.g., a media access control (MAC) layer), a layer that handles physical channels (e.g., a physical (PHY) layer), etc. For example, the first device and the second device may perform at least one of signaling for establishing a connection, signaling for determining settings related to communication, and / or signaling for indicating allocated resources. For example, the control information may be signaled / transmitted via a control channel. For example, the control information and / or the control channel may be used to schedule at least one of data, a data channel (e.g., a shared channel), and / or control information on the data channel.

[0056] In step S109, the first device and the second device may transmit and / or receive data. For example, the first device and the second device may process, transmit, and / or receive data based on signaling of control information. For example, when transmitting data, the first device or the second device may perform at least one of channel encoding, rate matching, scrambling, constellation mapping, layer mapping, waveform modulation, antenna mapping, and / or resource mapping on the information bits. For example, when receiving data, the first device or the second device may perform at least one of signal extraction from resources, waveform demodulation for each antenna, signal arrangement considering layer mapping, constellation demapping, descrambling, and / or channel decoding.

[0057] For example, the layers of a radio interface protocol between a first device and a second device can be divided into L1 (layer 1), L2 (layer 2), L3 (layer 3), etc. For example, a physical layer belonging to the first layer can provide an information transfer service using a physical channel, and an RRC (radio resource control) layer located in the third layer can play a role in controlling radio resources between the first device and the second device. For this purpose, for example, the RRC layer can exchange RRC messages between the first device and the second device.

[0058] FIG. 2 illustrates a radio protocol architecture according to an embodiment of the present disclosure. The embodiment of FIG. 2 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted. For example, (a) of FIG. 2 may illustrate a radio protocol stack of a user plane for uplink communication or downlink communication, and (b) of FIG. 2 may illustrate a radio protocol stack of a control plane for uplink communication or downlink communication. For example, (c) of FIG. 2 may illustrate a radio protocol stack of a user plane for device-to-device communication, and (d) of FIG. 2 may illustrate a radio protocol stack of a control plane for device-to-device communication.

[0059] For example, the physical layer can provide information transmission services to upper layers using physical channels. For example, the physical layer can be connected to the upper layer, the medium access control (MAC) layer, through a transport channel. For example, data can be transmitted between the MAC layer and the physical layer through the transport channel. For example, transport channels can be classified according to how and with what characteristics data is transmitted over the wireless interface. For example, data can be transmitted between different physical layers, for example, between the physical layers of a first device and a second device, through a physical channel. For example, the physical channel can be modulated using an orthogonal frequency division multiplexing (OFDM) scheme, and time and frequency can be utilized as radio resources.

[0060] For example, the MAC layer can provide services to the upper layer, the radio link control (RLC) layer, through logical channels. For example, the MAC layer can provide a mapping function from multiple logical channels to multiple transport channels. For example, the MAC layer can provide a logical channel multiplexing function by mapping multiple logical channels to a single transport channel. For example, the MAC sublayer can provide data transmission services on logical channels.

[0061] For example, the RLC layer can perform concatenation, segmentation, and reassembly of RLC service data units (SDUs). For example, to guarantee the various quality of service (QoS) required by radio bearers (RBs), the RLC layer can provide three operating modes: transparent mode (TM), unacknowledged mode (UM), and acknowledged mode (AM). For example, AM RLC can provide error correction through automatic repeat request (ARQ).

[0062] For example, the RRC (radio resource control) layer can be defined only in the control plane. For example, the RRC layer can be responsible for controlling logical channels, transport channels, and physical channels in relation to the configuration, re-configuration, and release of radio bearers. For example, an RB can mean a logical path provided by a first layer (e.g., a physical layer) and a second layer (e.g., a MAC layer, an RLC layer, a PDCP (packet data convergence protocol) layer, a SDAP (service data adaptation protocol) layer, etc.) for data transmission between a first device and a second device.

[0063] For example, the functions of the PDCP layer in the user plane may include the forwarding of user data, header compression, and ciphering. For example, the functions of the PDCP layer in the control plane may include the forwarding of control plane data and ciphering / integrity protection.

[0064] For example, establishing an RB can refer to the process of defining the characteristics of the radio protocol layer and channel to provide a specific service, and setting specific parameters and operating methods for each. For example, RBs can be divided into two types: signaling radio bearers (SRBs) and data radio bearers (DRBs). For example, SRBs can be used as a channel to transmit RRC messages in the control plane, while DRBs can be used as a channel to transmit user data in the user plane.

[0065] For example, if an RRC connection is established between the RRC layer of the terminal and the RRC layer of the base station, the terminal will be in the RRC_CONNECTED state, and if not, it may be in the RRC_IDLE state. For example, in the case of NR, the RRC_INACTIVE state is additionally defined, and a terminal in the RRC_INACTIVE state can release the connection with the base station while maintaining the connection with the core network.

[0066] For example, a downlink transmission channel may include at least one of a broadcast channel (BCH) for transmitting system information, and / or a downlink shared channel (SCH) for transmitting user traffic or control messages. For example, traffic or control messages of a downlink multicast or broadcast service may be transmitted through the downlink SCH, or may be transmitted through a separate downlink multicast channel (MCH). Meanwhile, an uplink transmission channel may include at least one of a random access channel (RACH) for transmitting initial control messages, and / or an uplink shared channel (SCH) for transmitting user traffic or control messages. For example, a logical channel located above a transmission channel and mapped to the transmission channel may include at least one of a broadcast control channel (BCCH), a paging control channel (PCCH), a common control channel (CCCH), a multicast control channel (MCCH), and / or a multicast traffic channel (MTCH).

[0067] FIG. 3 illustrates the structure of a wireless frame according to an embodiment of the present disclosure. The embodiment of FIG. 3 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0068] Referring to FIG. 3, for example, a radio frame may be used in uplink transmission, downlink transmission, and / or device-to-device transmission. For example, a radio frame may have a length of 10 ms and may be defined as two 5 ms half-frames (HF). For example, a half-frame may include five 1 ms subframes (SF). For example, a subframe may be divided into one or more slots, and the number of slots within a subframe may be determined according to a subcarrier spacing (SCS). For example, each slot may include 12 or 14 OFDM (A) symbols, depending on a cyclic prefix (CP).

[0069] For example, when normal CP is used, each slot can contain 14 symbols. For example, when extended CP is used, each slot can contain 12 symbols. Here, for example, the symbols can contain OFDM symbols (or CP-OFDM symbols), SC-FDMA (single carrier-FDMA) symbols (or DFT-s-OFDM (Discrete Fourier Transform-spread-OFDM) symbols).

[0070] Table 2 below shows the number of symbols per slot (N) depending on the SCS setting (u) when normal CP or extended CP is used. slot symb ), number of slots per frame (N frame,u slot ) and the number of slots per subframe (N subframe,u slot ) is an example.

[0071] CP type SCS (15*2 u )N slot symb N frame,u slot N subframe,u slotNormal CP15kHz (u=0)1410130kHz (u=1)1420260kHz (u=2)14404120kHz (u=3)14808240kHz (u=4)1416016Extended CP60kHz (u=2)12404

[0072] For example, OFDM(A) numerology (e.g., SCS, CP length, etc.) may be set differently between multiple cells that are merged into a single terminal. Accordingly, the (absolute time) interval of time resources (e.g., subframes, slots, or transmit time intervals (TTIs)) composed of the same number of symbols may be set differently between the merged cells. For example, in the present disclosure, time resources such as subframes, slots, TTIs, etc. may be referred to as time units.

[0073] For example, multiple numerologies, or SCSs, may be supported to support various services. For example, a 15 kHz SCS may support wide areas in traditional cellular bands, while a 30 kHz / 60 kHz SCS may support dense urban areas, lower latency, and wider carrier bandwidth. For example, a 60 kHz or higher SCS may support bandwidths greater than 24.25 GHz to overcome phase noise.

[0074] FIG. 4 illustrates a slot structure of a frame according to an embodiment of the present disclosure. The embodiment of FIG. 4 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0075] Referring to FIG. 4, for example, a slot may include multiple symbols in the time domain. For example, a carrier may include multiple subcarriers in the frequency domain. For example, a resource block (RB) may be defined as multiple consecutive subcarriers in the frequency domain. For example, a bandwidth part (BWP) may be defined as multiple consecutive (P)RBs ((physical) resource blocks) in the frequency domain, and may correspond to one numerology (e.g., SCS, CP length, etc.). For example, a carrier may include at most N BWPs (where N is a positive integer). For example, data communication may be performed through an activated BWP. For example, each element may be referred to as a resource element (RE) in the resource grid, and one complex symbol may be mapped to it.

[0076] For example, a BWP may be a contiguous set of PRBs in a given numerology. For example, a PRB may be selected from a contiguous subset of common resource blocks (CRBs) for a given numerology on a given carrier.

[0077] For example, the BWP may be at least one of an active BWP, an initial BWP, and / or a default BWP. For example, the UE may not monitor the downlink radio link quality in a DL BWP other than the active DL BWP on the PCell (primary cell). For example, the UE may not receive a physical downlink control channel (PDCCH), a physical downlink shared channel (PDSCH), or a channel state information-reference signal (CSI-RS) (except for radio resource management (RRM)) outside of the active DL BWP. For example, the UE may not trigger channel state information (CSI) reporting for an inactive DL BWP. For example, the UE may not transmit a physical uplink control channel (PUCCH) or a physical uplink shared channel (PUSCH) outside of the active UL BWP. For example, for downlink, the initial BWP can be given as a set of consecutive resource blocks (RBs) for the remaining minimum system information (RMSI) CORESET (control resource set) (set by the physical broadcast channel (PBCH)). For uplink, for example, the initial BWP can be given by the system information block (SIB) for the random access procedure. For example, the default BWP can be set by a higher layer. For example, the initial value of the default BWP can be the initial DL BWP.For energy saving, if a terminal does not detect DCI (downlink control information) for a certain period of time, the terminal may switch its active BWP to a default BWP.

[0078] FIG. 5 illustrates an example of a BWP according to an embodiment of the present disclosure. The embodiment of FIG. 5 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted. In the embodiment of FIG. 5, it is assumed that there are three BWPs.

[0079] Referring to FIG. 5, for example, a common resource block (CRB) may be a carrier resource block numbered from one end of a carrier band to the other, and a PRB may be a numbered resource block within each BWP. For example, point A may indicate a common reference point for a resource block grid.

[0080] For example, BWP is point A, offset from point A (N start BWP ) and bandwidth (N size BWP ) can be set by. For example, point A can be an outer reference point of the PRB of a carrier where subcarrier 0 of all numerologies (e.g., all numerologies supported by the network on that carrier) aligns. For example, the offset can be the PRB spacing between the lowest subcarrier in a given numerology and point A. For example, the bandwidth can be the number of PRBs in a given numerology.

[0081] FIG. 6 illustrates a communication structure that can be provided in a 6G system according to an embodiment of the present disclosure. The embodiment of FIG. 6 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0082] As core implementation technologies of the 6G system, technologies such as artificial intelligence (AI), THz (terahertz) communication, optical wireless technology, free-space optical transmission (FSO) backhaul networks, massive MIMO (multiple input multiple output) technology, blockchain, 3D networking, quantum communication, unmanned aerial vehicles, cell-free communication, wireless information and energy transfer (WIET), integration of sensing and communication, integration of access backhaul networks, holographic beamforming, big data analysis, and large intelligent surface (LIS) can be adopted.

[0083] - Artificial Intelligence: Incorporating AI into communications can streamline and improve real-time data transmission. AI can use numerous analytics to determine how complex target tasks should be performed. For example, AI can increase efficiency and reduce processing delays. Time-consuming tasks such as handovers, network selection, and resource scheduling can be performed instantly using AI. AI can also play a key role in machine-to-machine (M2M), machine-to-human, and human-to-machine communications. AI can also facilitate rapid communication in brain-computer interfaces (BCIs). AI-based communication systems can be supported by metamaterials, intelligent structures, intelligent networks, intelligent devices, intelligent cognitive radios, self-sustaining wireless networks, and machine learning.

[0084] - THz communication (terahertz communication): Data rates can be increased by increasing the bandwidth. This can be achieved by using sub-THz communication with wide bandwidths and applying advanced massive MIMO technology. THz waves, also known as sub-millimeter waves, typically refer to the frequency range between 0.1 THz and 10 THz, with corresponding wavelengths ranging from 0.03 mm to 3 mm. The 100 GHz to 300 GHz band (sub-THz band) is considered a key part of the THz spectrum for cellular communications. Adding the sub-THz band to the mmWave band will increase the capacity of 6G cellular communications. Among the defined THz bands, 300 GHz to 3 THz lies in the far infrared (IR) frequency band. While part of the optical band, the 300 GHz to 3 THz band lies at the boundary of the optical band, immediately following the RF band. Therefore, this 300 GHz to 3 THz band exhibits similarities to RF. Key characteristics of THz communications include (i) the widely available bandwidth to support very high data rates and (ii) the high path loss that occurs at high frequencies (requiring highly directional antennas). The narrow beamwidths generated by highly directional antennas reduce interference. The small wavelength of THz signals allows for a significantly larger number of antenna elements to be integrated into devices and base stations operating in this band. This enables the use of advanced adaptive array technologies to overcome range limitations.

[0085] - Large-scale MIMO technology

[0086] - Hologram beamforming (HBF)

[0087] - Optical wireless technology

[0088] - Free-space optical transmission backhaul network (FSO backhaul network)

[0089] - Quantum communication

[0090] - Cell-free communication

[0091] - Integration of wireless information and power transmission

[0092] - Integration of wireless communication and sensing

[0093] - Integrated access and backhaul network

[0094] - Big data analysis

[0095] - Reconfigurable intelligent surface

[0096] - metaverse

[0097] - Blockchain

[0098] Advanced Air Mobility (AAM): AAM can be a broad concept encompassing urban air mobility (UAM), regional air mobility (RAM), and uncrewed aerial systems (UAS). For example, AAM can include UAM, RAM, UAS, and uncrewed aerial vehicles (UAVs).

[0099] - Autonomous driving (self-driving): V2X (vehicle to everything), a key element in building autonomous driving infrastructure, can be a technology that allows cars to communicate and share with various elements on the road for autonomous driving, such as vehicle to vehicle (V2V) wireless communication and vehicle to infrastructure (V2I) wireless communication.

[0100] Non-terrestrial network (NTN): NTN can refer to a network or network segment that utilizes radio frequency (RF) resources mounted on satellites (or UAS platforms). NTN services may be considered to secure wider coverage or provide wireless communication services in locations where the installation of wireless communication base stations is difficult.

[0101] - Integrated sensing and communication (ISAC): Wireless sensing is a technology that uses radio frequencies to determine the instantaneous linear velocity, angle, distance (range), etc. of an object, thereby obtaining information about the characteristics of the environment and / or objects within the environment.

[0102] - Reconfigurable intelligent surface (RIS): RIS can be used to manipulate and enhance signal propagation in wireless communication environments. For example, a RIS can be composed of many small antennas, or metasurfaces, arranged on a surface, each of which can actively control the phase, amplitude, polarization, etc. of the reflected signal. For example, a RIS can improve signal reception by controlling the path, phase, and / or intensity of the propagating signal. For example, in the case of a RIS, power consumption can be very low because power is consumed only for controlling the phase and amplitude of the small antennas. For example, because a RIS can be reconfigured to suit different environments, it can meet various communication requirements and operate effectively in dynamic network environments.

[0103] FIG. 7 illustrates an example of a communication scenario based on a 6G system, according to an embodiment of the present disclosure. The embodiment of FIG. 7 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0104] Referring to FIG. 7, NTN communication can be performed based on satellite networks, high-altitude platform stations (HAPS) as international mobile telecommunications (IMT) base stations (BS), and terminals capable of aerial communication (e.g., AAMs). For example, to improve coverage, etc., devices such as satellite networks, HIBS, and terminals capable of aerial communication (e.g., AAMs) can act as relays. For example, an AAM can communicate with a base station, a satellite network, etc., and / or an AAM can communicate directly with a terminal, another AAM, etc.

[0105] For example, a terminal can obtain information about the environment and / or the characteristics of objects within the environment by using radio frequency sensing to determine the instantaneous linear velocity, angle, distance (range), etc. of an object. Since radio frequency sensing does not require a device to connect to the object through a network, it can provide a service for object positioning without a device. The ability to obtain range, velocity, and angle information from radio frequency signals can enable a wide range of new capabilities, such as various object detection, object recognition (e.g., vehicles, humans, animals, UAVs), and high-precision localization, tracking, and activity recognition. Wireless sensing services can provide information to a variety of industries (e.g., unmanned aerial vehicles, smart homes, V2X, factories, railways, public safety, etc.), enabling applications that provide, for example, intruder detection, assisted vehicle steering and navigation, trajectory tracking, collision avoidance, traffic management, health and traffic management, and more. In some cases, wireless sensing can utilize non-3GPP type sensors (e.g., radar, cameras) to further support 3GPP-based sensing. For example, the operation of wireless sensing services, e.g., sensing operations, may depend on the transmission, reflection, and scattering of wireless sensing signals. Therefore, wireless sensing offers an opportunity to enhance existing communication systems from a communications network to a wireless communication and sensing network.

[0106] Figures 8a and 8b illustrate a non-terrestrial network scenario according to an embodiment of the present disclosure. The embodiments of Figures 8a and 8b may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0107] Figure 8a illustrates a non-terrestrial network scenario based on a transparent payload, and Figure 8b illustrates a non-terrestrial network scenario based on a regenerative payload. For example, a non-terrestrial network may typically include the following elements:

[0108] - One or more satellite gateways connecting non-terrestrial networks to public data networks.

[0109] - Feeder link or wireless link between the satellite gateway and the satellite (or UAS platform).

[0110] - Service link or wireless link between user equipment and satellite (or UAS platform)

[0111] - A satellite (or UAS platform) capable of implementing transparent or regenerative (including onboard processing) payloads. For example, a satellite (or UAS platform) may generate multiple beams over a given service area, typically bounded by a field of view. For example, the beam footprint may be typically elliptical in shape. For example, the field of view of the satellite (or UAS platform) may vary depending on the onboard antenna diagram and minimum elevation angle. For example, for transparent payloads, radio frequency filtering, frequency conversion, and amplification may be performed. Therefore, the repetitive waveform signal in the payload may remain unchanged. For example, for regenerative payloads, radio frequency filtering, frequency conversion, and amplification, as well as demodulation / decoding, switching and / or routing, and coding / modulation may be performed. This may effectively be equivalent to onboarding all base station functions onto the satellite (or UAS platform).

[0112] - Optionally, inter-satellite link (ISL)

[0113] - User equipment can be serviced by satellites (or UAS platforms) within the target service area.

[0114] FIG. 9 illustrates an example of a sensing operation according to an embodiment of the present disclosure. The embodiment of FIG. 9 can be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted. Specifically, (a) of FIG. 9 illustrates an example of sensing using a sensing receiver and a sensing transmitter located at the same location (e.g., monostatic sensing), and (b) of FIG. 9 illustrates an example of sensing using a separated sensing receiver and sensing transmitter (e.g., bistatic sensing).

[0115] Referring to FIG. 9, a sensing transmitter can transmit a sensing signal for sensing one or more objects (and / or an environment around the objects). For example, the sensing signal can be a radio (frequency) signal defined to be transmittable by a base station / terminal. For example, a sensing receiver can receive a signal scattered / reflected by one or more objects (and / or an environment around the objects) from a sensing signal transmitted from the sensing transmitter. For example, in the sensing receiver, sensing data can be derived from the scattered / reflected signal, and a sensing result can be generated / obtained through processing the sensing data. Here, for example, the sensing result can include characteristic information (e.g., position, distance, speed, angle, etc.) about one or more objects (and / or an environment around the objects). For example, the sensing results generated / obtained in this way may be utilized for wireless sensing services (e.g., detection, tracking, etc. of objects and / or environments) or provided / disclosed to a trusted third party.

[0116] For example, a sensing transmitter may be a base station or terminal that transmits a sensing signal to be used for a sensing service to operate, and the sensing transmitter may be located in the same or different base station or terminal as a sensing receiver. For example, a sensing receiver may be a base station or terminal that receives a sensing signal to be used for a sensing service to operate, and the sensing receiver may be located in the same or different base station or terminal as a sensing transmitter. For example, a sensing target may be an object to be detected by deriving characteristics of an object in the environment from a sensing signal. For example, a background environment may be a background that is not a sensing target (e.g., clutter, environmental objects, etc.). For example, an environment object may be an object whose location is known other than a sensing target. For example, monostatic sensing may be sensing in which a sensing transmitter and a sensing receiver coexist in the same base station or terminal. For example, bistatic sensing may be sensing in which the sensing transmitter and the sensing receiver are located in different base stations or terminals. For example, multistatic sensing may be sensing in which there are multiple sensing transmitters and / or multiple sensing receivers for a (single) sensing target. For example, monostatic sensing, bistatic sensing, and / or multistatic sensing may be distinguished based on the angle between the sensing transmitter, the sensing target, and the sensing receiver. For example, if the angle between the sensing transmitter, the sensing target, and the sensing receiver is less than or equal to a threshold, it may be defined as monostatic sensing or semi-monostatic sensing. For example, if the angle between the sensing transmitter, the sensing target, and the sensing receiver is greater than or equal to a threshold, it may be defined as bistatic sensing or multistatic sensing.For example, the terminal may transmit a sensing signal over a wireless interface that can be used for sensing purposes. For example, the terminal may transmit a sensing signal over a 3GPP wireless interface that can be used for sensing purposes.

[0117] For example, the common framework of the ISAC channel model can be composed of target channel components and background channel components. For example, this can be obtained based on mathematical equation 1.

[0118]

[0119] Here, for example, target channel H target may include all [multipath] components affected by the sensing target. For example, background channel H Background may contain other [multipath] components that do not belong to the target channel.

[0120] For example, radar cross-section (RCS) may be a measure of how well a radar sensor can detect a target. Therefore, it is often referred to as an electromagnetic characteristic of the target. For example, a larger RCS may indicate that the target is more easily detectable. For example, in a radar sensor measurement, power may be transmitted toward the target, and the target may reflect some of the power back to the receiver. For example, the received power may be based on the RCS of the target, among other factors. For example, the received power may be proportional to the RCS. For example, the RCS of a target may be based on at least one of the frequency of the radar signal, the target material, the target shape, the target size, the direction of the incident and reflected waves relative to the target, the target movement, and / or the target illumination.

[0121] FIG. 10 illustrates the relationship between RCS, range (D), and power according to one embodiment of the present disclosure. The embodiment of FIG. 10 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0122] Referring to Fig. 10, the RCS of a radar target may be a virtual area required to intercept the power density transmitted from the target. For example, the relevant radar mathematical formula may be defined as in Equation 2.

[0123]

[0124] Here, for example, P TX can be the transmitter power [W], and G TXcan be the gain of the transmitting antenna [dimensionless], D can be the distance between the equipment under test (EUT) and the target [m], and RCS can be the radar cross section [m 2 ] can be, P RX can be the power [W] received back by the EUT from the object, and A eff is the effective area of ​​the receiving antenna [m 2 ] can be. For example, A eff can be obtained based on mathematical formula 3.

[0125]

[0126] Here, for example, G RX can be the gain of the receiving antenna [dimensionless], λ can be the wavelength of the radio signal [m], λ = c / f, c can be the speed of light 299792458 [m / s], and f can be the frequency [Hz].

[0127] For example, if the transmitter and receiver are co-located and the same antenna is used for both transmission and reception (G TX = G RX = G), the related radar mathematical formula can be defined as in mathematical formula 4.

[0128]

[0129] Here, for example, P TX can be the transmitter power [W], G can be the gain of the transmitting antenna [dimensionless], D can be the distance between the equipment under test (EUT) and the target [m], and RCS can be the radar cross section [m 2 ] can be, P RX can be the power [W] received back by the EUT from the object.

[0130] In this disclosure, the following terms may be used.

[0131] - PHR: Power Headroom Report

[0132] - LMF: Location Management Function

[0133] - UE-triggered SL positioning: SL (sidelink) positioning where the procedure is triggered by the UE.

[0134] - SL positioning triggered by base station / LMF: SL positioning where the procedure is triggered by base station / LMF.

[0135] - UE-controlled SL positioning: SL positioning where the SL positioning group is created by the UE.

[0136] - SL positioning controlled by the base station: SL positioning where the SL positioning group is generated by the base station.

[0137] - UE-based SL positioning: SL positioning where the UE location is calculated by the UE.

[0138] - UE-assisted SL positioning: SL positioning where the UE position is calculated by the base station / LMF.

[0139] - SL positioning group: UEs participating in SL positioning

[0140] - T-UE (Target UE): UE whose position is calculated

[0141] - S-UE (Server UE): UE that assists T-UE's positioning

[0142] - Anchor UE: A UE that assists T-UE's positioning

[0143] - MG: Measurement gap where only SL PRS transmission is allowed

[0144] - MW: Measurement window where both SL data and SL PRS can be transmitted in a multiplexed way

[0145] - SL PRS: Sidelink positioning reference signal

[0146] - CCH: Control Channel

[0147] - IUC (Inter-UE coordination) message: A message received by a TX UE from other UEs, including a RX UE, that includes information about a set of resources suitable for transmission by the TX UE to the RX UE (preferred resources) and / or information about a set of resources not suitable for transmission (non-preferred resources).

[0148] - UE-based: The way the UE calculates its own location is described as "UE-based".

[0149] - TP (Transmission point): A set of transmitting antennas (e.g., an antenna array (with one or more antenna elements)) geographically co-located for a cell, a portion of a cell, or a DL PRS-only TP. A transmission point may include a base station (ng-eNB or gNB) antenna, a remote radio head, a remote antenna of a base station, an antenna of a DL PRS-only TP, etc. A cell may include one or more transmission points. In a homogeneous deployment, each transmission point may correspond to one cell.

[0150] - Reception point (RP): A set of receiving antennas (e.g., an antenna array (with one or more antenna elements)) geographically co-located for a cell, a portion of a cell, or a UL SRS (sounding reference signal)-only RP. A reception point may include a base station (ng-eNB or gNB) antenna, a remote radio head, a remote antenna of a base station, an antenna of a UL SRS-only RP, etc. A cell may include one or more reception points. In a homogeneous deployment, each reception point may correspond to one cell.

[0151] - PRS-only TP: A TP that transmits only PRS signals for PRS-based terrestrial beacon system (TBS) positioning and is not connected to a cell.

[0152] - TRP (transmission-reception point): A set of geographically co-located antennas (e.g., an antenna array (with one or more antenna elements)) that support TP and / or RP functions.

[0153] - SRS-only RP: RP that receives only SRS signals for UL-only positioning and is not associated with a cell.

[0154] In the present disclosure, the TRP and the base station may be replaced and used as the same entity.

[0155] For example, an SL PRS transmission resource may be composed of an SL PRS resource set consisting of the following information:

[0156] - SL PRS resource set ID

[0157] - SL PRS Resource ID List: List of SL PRS resource IDs within the SL PRS resource set.

[0158] - SL PRS resource type: can be set to periodic or aperiodic or semi-persistent or on-demand

[0159] - Alpha for SL PRS power control

[0160] - P0 for SL PRS power control

[0161] - Path loss reference for SL PRS power control: Can be set to SL SSB or DL ​​PRS or UL SRS or UL SRS for positioning or PSCCH DMRS or PSSCH DMRS or PSFCH or SL CSI RS, etc.

[0162] For example, the above SL PRS resource set may be composed of SL PRS resources composed of the following information.

[0163] - SL PRS resource ID

[0164] - SL PRS comb size: Interval between REs where SL PRS is transmitted within a symbol

[0165] - SL PRS comb offset: RE index where SL PRS is first transmitted within the first SL PRS symbol.

[0166] - SL PRS comb cyclic shift: A cyclic shift used to generate the sequence that constitutes the SL PRS.

[0167] - SL PRS start position: The index of the first symbol transmitting SL PRS within a slot.

[0168] - Number of SL PRS symbols: The number of symbols that make up the SL PRS in one slot.

[0169] - Frequency domain shift: The lowest frequency position (index) at which the SL PRS is transmitted in the frequency domain.

[0170] - SL PRS BW: Frequency bandwidth used for SL PRS transmission

[0171] - SL PRS resource type: can be set to periodic or aperiodic or semi-persistent or on-demand

[0172] - SL PRS periodicity: the period in the time domain between SL PRS resources, a unit of physical or logical slot in the resource pool where SL PRS is transmitted.

[0173] - SL PRS Offset: The offset in the time domain from the start of the first SL PRS resource to the reference timing, in units of physical or logical slots in the resource pool where the SL PRS is transmitted. The reference timing may be SFN=0 or DFN=0, or the time of successful reception or decoding of RRC / MAC-CE / DCI / SCI associated with the SL PRS resource.

[0174] - SL PRS sequence ID

[0175] - SL PRS spatial relation: can be set to SL SSB or DL ​​PRS or UL SRS or UL SRS for positioning or PSCCH DMRS or PSSCH DMRS or PSFCH or SL CSI RS, etc.

[0176] - SL PRS CCH: SL PRS control channel. Can signal SL PRS resource configuration information and resource location, etc.

[0177] Previously, NR positioning up to Release 17 could only support network-based Uu positioning, which performed location search under the connection between the target UE and the network (gNB / LMF). Meanwhile, starting from NR Release 18, sidelink positioning (SL positioning) using sidelink communication can be supported. Sidelink positioning may be a new method that can perform positioning operations by exchanging positioning reference signals through a direct connection with anchor UEs around the target UE, rather than the base station. Positioning operations at the physical layer can be performed by transmitting and measuring SL PRS (sidelink positioning reference signal) between the target UE and the anchor UE.

[0178] Uu positioning can use the LPP protocol. An LPP session can be a point-to-point communication protocol between a target UE and an LMF. Through the LPP protocol, the target UE can receive positioning information from the LMF. The LMF can configure the target UE and the base station (gNB) through the LPP protocol and the NRPPa protocol, exchange positioning-related messages, and perform positioning operations. Meanwhile, in Release 18 sidelink positioning, positioning operations can be performed by exchanging sidelink positioning protocol messages with the target UE, server UE (or LMF), and anchor UEs. Sidelink positioning can use the sidelink positioning protocol (SLPP) to configure and exchange messages between UEs.

[0179] Positioning methods (e.g., sidelink positioning) require the target to possess a communication terminal, and signaling messages must be exchanged between the transmitter and the target for position measurement. This increases the overhead of signal processing between the target and the transmitter, and fundamentally limits positioning if the target does not possess a separate communication terminal.

[0180] In contrast, Integrated Sensing and Communication (ISAC) can accurately detect the presence and movement of a target, regardless of whether the target is carrying a communication terminal. Furthermore, it can reliably acquire detailed sensing information, such as the target's distance, speed, and angle. ISAC can estimate the target's characteristics simply by analyzing the information reflected from the target's signal emitted by the transmitter, without requiring a separate response signal or message from the target. Accordingly, ISAC significantly reduces the amount of signaling compared to positioning methods, significantly lowering overhead and enabling more efficient and flexible sensing and communication operations simultaneously.

[0181] In the description below, various names are illustrative and can be considered to perform the same / similar function (regardless of their name) based on what is described in each step.

[0182] FIG. 11 illustrates an example of an ISAC service according to an embodiment of the present disclosure. The embodiment of FIG. 11 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0183] Referring to Figure 11, examples of various application areas where ISAC can be applied are illustrated. Specifically, ISAC can support predictive maintenance and employee localization and authorization in smart manufacturing and industrial IoT, and provide weather prediction, pollution monitoring, rain monitoring, and insect monitoring in environmental monitoring.

[0184] Additionally, in the field of Sensing as a Service, it can be utilized in drone monitoring and management, mobile crowd sensing, channel knowledge map construction, and cooperative localization and imaging.

[0185] Furthermore, in the field of remote sensing, it can support satellite imaging and broadcasting, drone swarm SAR imaging, and in the field of smart homes, it can be utilized for human proximity detection, spatial-aware control, sensing-aided wireless charging, fall detection, and vital signal monitoring.

[0186] Additionally, in the field of human-computer interaction (HCI), it enables gesture recognition, keystroke recognition, and arm / head activity recognition, and in the field of vehicle-to-everything (V2X) communication, it can provide various services such as high precision location, vehicle platooning, extended sensor, simultaneous localization and mapping, and secure hands-free access.

[0187] Integrated sensing and communication (ISAC) technology, which integrates target sensing and user communication functions in recent 6th generation (6G) mobile communication systems, is attracting attention as a key standardization target. The importance of ISAC has been repeatedly emphasized in white papers from major global industry organizations such as Samsung, Qualcomm, and Huawei, as well as in materials from major IEEE conferences and 3GPP workshops. ISAC technology is emerging as an essential technology in various industries, such as autonomous driving, smart factories, unmanned aerial vehicles, and healthcare, based on its advantages such as efficient frequency utilization, reuse of existing communication infrastructure, and cost savings through integrated sensing and communication sensors, as shown in Figure 11.

[0188] FIG. 12 illustrates various integrated sensing and communication (ISAC) systems according to an embodiment of the present disclosure. Specifically, (a) of FIG. 12 illustrates an example of a network-based monostatic ISAC system, (b) of FIG. 12 illustrates an example of a network-based bistatic ISAC system, and (c) of FIG. 12 illustrates an example of a network-UE-based bistatic ISAC system (①) and a network-coordinated UE bistatic ISAC system (①+②). In addition, (d) of FIG. 12 shows an example of a UE-based mono-static ISAC system, (e) of FIG. 12 shows an example of a UE-network bi-static ISAC system, and (f) of FIG. 12 shows an example of a UE-based bi-static ISAC system. The embodiment of FIG. 12 can be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0189] Referring to FIG. 12, various ISAC systems may be considered in the present disclosure to include various ISAC service embodiments. For example, in an embodiment of the present disclosure, a base station may be represented as a BS. For example, in an embodiment of the present disclosure, a terminal may be represented as a UE. For example, a transmitter may transmit a signal for sensing, and a receiver may perform sensing based on a signal reflected from an object. FIG. 12(a) may represent a network-based monostatic ISAC system. In this system, a BS may transmit an ISAC signal to multiple targets and then receive the reflected signal to estimate the distance and velocity of the targets. Here, the targets may be UEs. FIG. 12(b) may represent a network-based bistatic ISAC system. In this system, two BSs may cooperate to estimate the distance and velocity of the same multiple targets. BS 1 may be a transmitter and BS 2 may be a receiver. BS 2 can receive the ISAC signal transmitted from BS 1 reflected by targets. BS 2 can then estimate the distance and velocity of the targets. Unlike a monostatic system, a bistatic ISAC system may not have information about the transmitted signal. Therefore, a bistatic ISAC system can obtain the radar information matrix of targets through a pilot signal that both the transmitter and receiver already know. Figure 12 (c) may be a network-UE-based bistatic ISAC system. In this system, a BS may transmit an ISAC signal. At this time, the BS may use a beamforming technique to direct most of the reflected signals toward the UE or to return some of them to the BS.In the former case, the UE can receive most of the signals transmitted by the BS and perform target range and velocity estimation. While this allows the UE to quickly obtain the necessary target information, the UE performs all the processing, potentially increasing computational complexity. In contrast, in the latter case, the BS first estimates the target range and velocity, similar to a monostatic ISAC system, and then, based on the estimation results, informs the UE of an appropriate target estimation technique. This allows the UE to immediately perform target estimation using the technique provided by the BS, thereby reducing complexity.

[0190] Figure 12(d) may be a UE-based monostatic ISAC system. The system can directly estimate the target range and velocity at the UE. Figure 12(e) may be a UE-network bistatic ISAC system. The BS can estimate the range and velocity of multiple targets by receiving the ISAC signal transmitted by the UE reflected from the target. Figure 12(f) may be a UE-based bistatic ISAC system. In the system, the range and velocity of targets can be estimated through bistatic between different UEs.

[0191] Wireless communication systems are multiple access systems that support communication with multiple users by sharing available system resources (e.g., bandwidth, transmission power, etc.). Examples of multiple access systems include code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), single carrier frequency division multiple access (SC-FDMA), and multi-carrier frequency division multiple access (MC-FDMA).

[0192] Sidelink (SL) refers to a communication method that establishes a direct link between user equipment (UE), allowing voice or data to be exchanged directly between terminals without going through a base station (BS). SL is being considered as a solution to address the burden on base stations due to rapidly increasing data traffic.

[0193] V2X (vehicle-to-everything) refers to a communication technology that exchanges information with other vehicles, pedestrians, and infrastructure-based objects through wired / wireless communication. V2X can be divided into four types: V2V (vehicle-to-vehicle), V2I (vehicle-to-infrastructure), V2N (vehicle-to-network), and V2P (vehicle-to-pedestrian). V2X communication can be provided through the PC5 interface and / or Uu interface.

[0194] Meanwhile, as more and more communication devices demand greater communication capacity, the need for improved mobile broadband communication compared to existing radio access technology (RAT) is emerging. Accordingly, communication systems that consider services or terminals sensitive to reliability and latency are being discussed. Next-generation wireless access technologies that consider improved mobile broadband communication, massive machine type communication (MTC), and ultra-reliable and low latency communication (URLLC) can be called new radio access technology (RAT) or new radio (NR). NR can also support vehicle-to-everything (V2X) communication.

[0195] FIG. 13 is a diagram for explaining and comparing V2X communication based on RAT prior to NR and V2X communication based on NR, according to one embodiment of the present disclosure. The embodiment of FIG. 13 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0196] In relation to V2X communication, in RATs prior to NR, methods for providing safety services based on V2X messages such as Basic Safety Message (BSM), Cooperative Awareness Message (CAM), and Decentralized Environmental Notification Message (DENM) were mainly discussed. V2X messages may include location information, dynamic information, attribute information, etc. For example, a terminal may transmit a CAM of a periodic message type and / or a DENM of an event triggered message type to another terminal.

[0197] For example, a CAM may include basic vehicle information such as dynamic vehicle status information, such as direction and speed, static vehicle data, such as dimensions, external lighting conditions, and route history. For example, a terminal may broadcast a CAM, and the latency of the CAM may be less than 100 ms. For example, in the event of an emergency, such as a vehicle breakdown or accident, a terminal may generate a DENM and transmit it to other terminals. For example, all vehicles within the transmission range of the terminal may receive the CAM and / or DENM. In this case, the DENM may have a higher priority than the CAM.

[0198] Since then, various V2X scenarios have been proposed in NR in relation to V2X communications. For example, various V2X scenarios may include vehicle platooning, advanced driving, extended sensors, and remote driving.

[0199] For example, based on vehicle platooning, vehicles can dynamically form groups and move together. For example, to perform platoon operations based on vehicle platooning, vehicles in the group can receive periodic data from the lead vehicle. For example, vehicles in the group can use this periodic data to narrow or widen the gap between vehicles.

[0200] For example, based on improved driving, vehicles can become semi-autonomous or fully automated. For example, each vehicle can adjust its trajectories or maneuvers based on data acquired from local sensors of nearby vehicles and / or nearby logical entities. Furthermore, for example, each vehicle can share driving intentions with nearby vehicles.

[0201] For example, based on extended sensors, raw data, processed data, or live video data acquired through local sensors can be exchanged between vehicles, logical entities, pedestrian terminals, and / or V2X application servers. Thus, for example, a vehicle can perceive its environment better than it can perceive using its own sensors.

[0202] For example, based on remote driving, a remote driver or V2X application can operate or control the remote vehicle for people who cannot drive or for remote vehicles located in hazardous environments. For example, in cases where the route is predictable, such as public transportation, cloud computing-based driving can be utilized to operate or control the remote vehicle. Additionally, access to a cloud-based back-end service platform, for example, can be considered for remote driving.

[0203] Meanwhile, a method to specify service requirements for various V2X scenarios, such as vehicle platooning, enhanced driving, expanded sensors, and remote driving, is being discussed in NR-based V2X communication.

[0204] The present disclosure relates to a method of detecting an object using multiple cameras, extracting feature points associated with a reference point, and then integrating them to obtain the reference position, length, etc. of the object.

[0205] When detecting objects with a camera, if the object is very short (e.g., a plank) or has a very narrow area (e.g., a pedestrian), it may be easy to generate the bounding box of the object and determine the center point of the object using only a single camera. However, when detecting three-dimensional objects, it may not be easy to obtain a reference point that can serve as a reference point for position information using only the bounding box of the detected object. For example, it may be necessary to obtain only the reference points for the front or back of the object and then reflect a certain offset related to the length of the object to obtain the reference point or center point.

[0206] In this case, in areas with complex road configurations such as intersections, multiple cameras may be installed to basically reduce blind spots or monitor traffic conditions in multiple directions.

[0207] In such a situation, a situation may arise where multiple cameras are capturing / sensing a specific object, and in such a case, more increased or diverse information (about a three-dimensional object) can be acquired than when detecting the object with a single camera. More specifically, the reference points of the object or the length of the object can be measured / determined by using the respective reference points acquired from each of the sensors for the front or back of the object.

[0208] According to one embodiment of the present disclosure, for example, by using multiple cameras, more information about a specific object (first object) can be acquired at once, so that information about the object can be acquired more quickly than by using a single camera, or information that cannot be acquired with a single camera (or is very difficult or takes a lot of time) can be acquired using multiple cameras.

[0209] For example, using a single camera, you can quickly acquire reference points of an object. In most cases, this may mean a reference point for the front (first reference point) or a reference point for the back (second reference point). Since it is very rare or impossible for a single camera to capture both types of reference points simultaneously, it is generally assumed that a single camera can acquire only one type of reference point.

[0210] Therefore, using multiple cameras, it is possible to acquire two or more types of reference points—for example, two types of reference points for a vehicle driving on a road—and combine the measurements for these reference points to obtain the final desired (center) reference point or object length.

[0211] More specifically, objects captured by multiple cameras may have the same or similar resolution or accuracy if captured from the same or similar distances. However, in reality, as shown in Figure x, the distance from each camera to the object may differ. Therefore, a method is needed to process each measurement value and acquire the main features (length, reference point, etc.) of the object in response to detection with different resolutions, accuracies, or error ranges. As described above, when a specific object is detected by multiple cameras with different resolutions, accuracies, or error ranges, it may be difficult to use the measurement values ​​as they are because they have instantaneous different characteristics. In this case, an additional procedure may be required to make the measurement values ​​measured by each camera have the same or similar characteristics.

[0212] 1.1. Obtaining front and rear reference points

[0213] Cameras that can acquire a reference point in the same direction may also be installed in the same direction, or may be installed in a situation where auxiliary cameras are installed in a situation where a main camera exists to pursue a diversity effect as multiple cameras, or may have different functions (e.g., zoom in / out shooting, pan / tilt / zoom functions compared to general shooting) or different FOVs (e.g., field of view) with the same or similar installation location or direction.

[0214] Therefore, in order to achieve the above purpose (acquiring both the first reference point and the second reference point and / or measuring the length of the first object), it may be possible to use images from cameras installed at different locations. In addition, if the coverages of the cameras installed at different locations overlap, they may be filming the same object at the same time, or at least (regardless of whether the coverages overlap or not) they may be filming the trajectory of a specific object separately. In this case, if the tracking of the object is not continuous but is interrupted, it is necessary to confirm that the same object is continuously observed through re-identification, etc., and for the discontinuous section that occurred in the middle, the speed of the first object, etc. can be estimated to calculate and derive necessary information (such as the length of the first object).

[0215] The configuration of the above multiple cameras or sensors may be, for example, such that the first sensor faces the front of the first object, and the second sensor faces the rear of the first object. Alternatively, the second sensor may not be positioned exactly facing the rear of the vehicle, but may be positioned at a position where it can detect a rear reference point, for example, in the direction of the side or rear of the vehicle. When the first sensor and the second sensor observe the same object (the first object), the distances from the object may be different, which means that the positioning errors for determining the first or second reference point of the object may be different. Therefore, there may be a reference point that is positioned more accurately between the first and second reference points and a reference point that is not. If a measurement value (for example, the length of the object) is calculated directly with only one measurement, a large error may occur, so it is necessary to perform post-processing using the acquired data. The names of the first sensor and the second sensor, etc., are only examples. For example, the first sensor is not limited to a front sensor. For example, the first sensor may be a rear sensor. For example, the first sensor may be a sensor on a surface other than the front or rear. For example, the second sensor is not limited to a rear sensor. For example, the second sensor may be a rear sensor. For example, the second sensor may be a sensor on a surface other than the front or rear.

[0216] The above first sensor and the second sensor can obtain segment information of an object through segmentation using background removal or other image processing methods, and through a differential image of the segment, etc., can derive the closest point from the sensor and the cross-section in the direction of movement related to the point, and can derive the center point of the cross-section or the most protruding part in the cross-section as a feature point for obtaining a reference point. By tracking the direction of movement of the differential image, it is possible to determine whether the object is an object approaching the sensor or an object moving away from the sensor, and thus determine whether the feature point is a first reference point or a second reference point.

[0217] If the first sensor is capturing the front of an object, for example, if the object is approaching the first sensor, the feature point acquired by the first sensor for the object becomes the first reference point, and if the second sensor is simultaneously capturing the back of the object, for example, if the object is moving away from the second sensor, the feature point acquired by the second sensor for the object can become the second reference point. Of course, if the object moves in the opposite direction, the second reference point can be acquired from the first sensor and the first reference point can be acquired from the second sensor.

[0218] For the above same detection object, the first sensor and the second sensor (or additional sensors) can be matched to each other so that it can be confirmed in advance that they are the same object.

[0219] 1.2. Measuring object length

[0220] The first and second sensors may not be synchronized, but at least the upper network entity, such as the server that collects information from the sensors, can obtain time stamp information about the time at which the video or image was captured. If there is a difference between these times, the acquired measurement value can be used after being corrected (e.g., interpolated, etc.). In the case of measurement values ​​by an image sensor, such as a camera, there may be additional errors depending on the distance to the subject of the shooting. For example, in the case of an object captured at a close range, one object is composed of a very large number of image pixels, and if the target reference point is precisely designated, the error value for the reference point becomes close to 0.

[0221] On the other hand, in the case of an object captured from a long distance, one object is composed of a very small number of image pixels, and no matter how precisely the target reference point is specified, the resolution for one image pixel is very low (for example, several tens of cm to several m per pixel), so the error value for the reference point can be very large. When the position of the first reference point acquired and corrected through the first sensor is P1', and the position of the second reference point acquired and corrected through the second sensor is P2', P1' and P2' can each be expressed as in [Mathematical Formula 5].

[0222] [Equation 5]

[0223] P1'(t) = P1(t) + Z1(d1(t))

[0224] P2'(t) = P2(t) + Z2(d2(t))

[0225] Here, for example, P1 represents the actual position of the first reference point, P2 represents the actual position of the second reference point. Therefore, when the length of the first object is L, |P1(t) - P2(t)| = L. Z1 and Z2 represent error values ​​that occur depending on the shooting distance and are random processes, d1 represents the distance from the first sensor to the first reference point, d2 represents the distance from the second sensor to the second reference point, and t represents the measured time. The error value may increase as the distance from the first object increases, and in such a case, quantization errors, etc. that may occur due to a decrease in the number of pixels representing the first object because it is farther away from the sensor may occur more. In other words, as the value of d1(t) or d2(t) increases, the variance or standard deviation that Z1 and Z2 may have may increase. Also, since d1(t) and d2(t) are time-varying values, the characteristics (e.g., variance or standard deviation) of Z1 and Z2 may change. However, unless the values ​​observed for a very long time are used, the values ​​of d1 and / or d2 will not change significantly, and Z1 and Z2 can be viewed as random variables independent of time. Therefore, the number of samples for measuring the length should be large enough to offset other errors and noises, including quantization errors, but on the other hand, too many samples (for too long a period of time) should not be taken so that the statistical characteristics of the samples do not change significantly.

[0226] The above Z1 and Z2 are measurement errors that occur when mapping the information sensed from the first object to the image domain, and can be simply expressed in a Gaussian form, or in a uniform distribution form with upper and lower limits for the mapping error value. For example, when a specific point is mapped to one pixel through quantization (when looking only at the x-axis mapping), when the resolution indicated by the pixel is 1 m, the range of the error value can be limited to -0.5 to +0.5 m or 0 to 1 m, etc. For example, when a specific pixel has as its representative value the median value (non-biased) of the range occupied by the pixel, the above error value can have a range such as -0.5 to +0.5 m. The difference between the measurement values ​​for the first object from the first sensor and the second sensor can be an estimate of the length of the object. For example, the length value of the object or the estimate of the length value of the object can be expressed as in [Mathematical Formula 6].

[0227] [Equation 6]

[0228] L' = |P1'-P2'| = |(P1-P2) + {Z1(d1(t)) - Z2(d2(t))}|

[0229] For example, the length value of an object or an estimate of the length value of an object can be obtained based on [Mathematical Formula 7] when the difference is obtained by performing averaging sufficiently to reduce the above error value.

[0230] [Equation 7]

[0231] |E[P1' - P2']|

[0232] = |E[P1'] - E[P2']|

[0233] = |(P1 + E[Z1(d1(t))]) - (P2+E[Z2(d2(t))])|

[0234] = |(P1 + E[Z1(d1(t))]) - (P2+E[Z2(d2(t))])|

[0235] = |P1 - P2|

[0236] = L

[0237] To summarize the process of measuring the above length more specifically, the front reference point (P1') and / or the rear reference point (P2') of the object can be obtained from each of the sensors (cameras).

[0238] If the differences between these reference points are obtained instantaneously, the length of the object can be obtained by adding the difference in the error value. However, since the values ​​corresponding to the difference in the error value may disappear when averaged multiple times in terms of probability variables, the instantaneous values ​​are averaged over time for a certain number of times to obtain an estimate of the object length. The number of times may be a predetermined value.

[0239] 1.3. Determining the object reference point

[0240] The above object length value is a time-invariant value for fixed objects, so it doesn't matter if it's not calculated instantaneously. However, for the object reference point, the value changes at each measurement point depending on the object's movement, so an error can occur instantaneously, and the above method alone cannot correct the error.

[0241] Therefore, among the first accuracy value that can determine the accuracy value for the measurement value of the first reference point, and the second accuracy value that can determine the accuracy value for the measurement value of the second reference point, a value with higher accuracy (smaller error is common) is taken, and the measured object length value can be offset (for example, the center point is derived by reflecting half of the length) based on the associated reference point to determine the final object reference point.

[0242] For example, the offset value may be reflected from the first reference point in the direction of the second reference point, or from the second reference point in the direction of the first reference point.

[0243] At this time, the reference point (center point) may simply be a point determined between the reference points, or may be a point determined on a line extended in a direction corresponding to the trajectory passed by the first reference point or the second reference point (or derived and corrected from the trajectory).

[0244] 1.4. Creating and sending object detection information messages

[0245] In a situation where there is a message (e.g., a first message) pointing to the same kind of reference point (e.g., a first reference point) targeting the specific identical object (e.g., a situation where a message containing the detection result for the first reference point is already being transmitted and a specific entity wants to additionally generate a message containing the detection result for the first reference point), for example, when an entity (e.g., a roadside unit (RSU)) detecting a specific reference point (e.g., the first reference point) of the object receives the first message, if the detection accuracy or the accuracy of the location information of the object obtained from the first message (e.g., the first accuracy) is more accurate than the accuracy of the entity detecting the object or the accuracy of the location information (e.g., the second accuracy), the entity does not necessarily need to generate an additional message (e.g., the second message) for the object (from the perspective of redundancy mitigation).

[0246] However, apart from the purpose of mitigating the redundancy, the second message may need to be sent to transmit information about the detected object to entities (e.g., VRU, vehicle, RSU, eNB, etc.) to which the first message does not reach. In this case, the transmission period (interval) may be lengthened and / or transmission resources such as transmission power and transmission frequency may be adjusted (reduced or increased) for efficient use of transmission resources.

[0247] However, in a situation where there is no message pointing to the same kind of reference point targeting the specific identical object, or in a situation where there is only a message (e.g., a first message) pointing to a different kind of reference point (e.g., a second reference point) targeting the specific identical object, the entity detecting the specific reference point (e.g., the first reference point) of the object must generate an additional message (e.g., a second message) for the object.

[0248] Additionally, in order to sense the coverage of a message associated with the detected object and transmit it accordingly, a message containing information related to the detected object may contain coverage information for the detection sensor.

[0249] For example, it can be a circular, oval, or any polygonal shape, and more specifically, in the case of a camera sensor, it can contain coverage information in a square shape. Fig. 14 shows an example in which an RSU1 camera observes P1 to P4 according to an embodiment of the present disclosure. Referring to Fig. 14, information on four points of P1 to P4 that constitute the coverage of the camera can be contained, and these points can contain information on four points of the x, y coordinate system of GPS, for example, or information on four points of relative coordinates with respect to a specific reference point such as an RSU. In addition to the coverage information, key installation information of the RSU that generated the coverage (for example, key installation environment such as installation location, installation height, tilt angle, or key specification information of the installed sensor, etc.) can also be transmitted.

[0250] Such coverage information or related information may be transmitted in a message associated with the detected object, either continuously, periodically, intermittently, or event-based. However, as the amount of information to be transmitted increases, transmitting the information in a message associated with the detected object may become inefficient. Therefore, in the case of detection using a fixed (or semi-static) sensor such as the above detection environment, for example, an RSU CCTV, key information about the sensor (e.g., installation location, coverage information) may be defined in advance as key POI information on the HD map.

[0251] For example, information related to the object detection may include, with respect to the sensor, the ID of the sensor, the focal length of the sensor, the sensor size, the installation location of the sensor, the installation height, the installation direction, the tilt angle, with respect to the coverage, four coverage points (relative location from the RSU CCTV installation location or GPS absolute location), with respect to the detected object, the type of reference point of the detected object (first reference point, second reference point or center point, ...), the location of the reference point (relative location from the RSU CCTV installation location or GPS absolute location), the accuracy of the reference point, etc.

[0252] The above information may be composed of additional fields in a required data part (e.g., part I) of a BSM, PSM message, etc. for the above object, or may be composed of additional fields in an optional data part (e.g., part II).

[0253] Alternatively, the above information may be composed of additional fields in the sensor that sensed the object and the CPM message, SDSM message, etc. that transmits the sensing information.

[0254] However, if the first sensor and the second sensor (and the associated sensor coverage) are included in the same base station coverage or if the information obtained from the first sensor and the second sensor is processed on the same server, only the information on the reference point finally derived from the first reference point and / or the second reference point for the object needs to be transmitted, so among the information related to the object detection, the reference point type of the detected object (the first reference point, the second reference point, or the center point, ... or may be omitted if only the information on the center point is transmitted), the location of the reference point (relative location from the RSU CCTV installation location or GPS absolute location), the accuracy of the reference point (or the center point), etc. may be included.

[0255] FIGS. 15A and 15B are diagrams illustrating changes in the measurement error range according to changes in the distance between a vehicle and a camera when observing a vehicle through a camera mounted on an RSU, according to one embodiment of the present disclosure. The embodiments of FIGS. 15A and 15B may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0256] Figure 15a shows that when observing a vehicle through a camera mounted on a single RSU, the measurement error range decreases as the distance between the vehicle and the camera gets closer, and increases as the distance gets farther away. Figure 14b shows that when observing the same vehicle through cameras mounted on RSU1 and RSU2, which are installed at different locations, the measurement error range is small for the RSU1 camera because the distance from the vehicle is close, and the measurement error range is large for the RSU2 camera because the distance from the vehicle is far.

[0257] The present disclosure relates to a method of detecting an object using multiple cameras, deriving segment information about the object, and then integrating the information to obtain the reference position, length, etc. of the object.

[0258] When detecting objects with a camera, if the object is very short (e.g., a plank) or has a very narrow area (e.g., a pedestrian), it may be easy to generate the bounding box of the object and determine the center point of the object using only a single camera. However, when detecting three-dimensional objects, it may not be easy to obtain a reference point that can serve as a reference point for position information using only the bounding box of the detected object. For example, it may be necessary to obtain reference points for the front or back of the object and then reflect a certain offset related to the length of the object to obtain the reference point or center point.

[0259] In this case, in areas with complex road configurations such as intersections, multiple cameras may be installed to basically reduce blind spots or monitor traffic conditions in multiple directions.

[0260] In such a situation, a situation may arise where multiple cameras are capturing / sensing a specific object, and in such a case, more increased or diverse information (about a three-dimensional object) can be acquired than when detecting the object with a single camera. More specifically, the reference point of the object or the length of the object can be determined / measured using the segment information acquired from each of the sensors for the front or back of the object.

[0261] When capturing and / or analyzing a three-dimensional object using a single camera, some parts of the object are continuously occluded depending on the shooting angle and field of view, making it difficult to identify all vertices of the ground plane. In particular, three-dimensional objects such as vehicles often have only the front or back exposed, requiring complex post-processing such as accumulating multiple frames or relying on additional range sensors and / or V2X messages to obtain reference points such as the center point of the ground plane or length and / or width. This slows down reference point calculation, increases computational costs such as learning and / or inference of 3D bounding boxes, and ultimately degrades positioning accuracy and real-time performance.

[0262] Furthermore, to fully reconstruct the floor of a three-dimensional object when the rear image is not available, the remaining point must be estimated from the three remaining vertices. Existing methods require delays and complex postprocessing across multiple steps, either waiting for the rear image to arrive or incorporating external information such as additional distance sensors and / or V2X messages. This delay has led to delays in reference point calculation and instability in positioning accuracy at intersections with only a single camera, such as RSU CCTV.

[0263] By using multiple cameras, more information about a specific object (the first object) can be obtained at once, so information about the object can be obtained more quickly than using a single camera. Alternatively, information that cannot be obtained with a single camera (or is very difficult or takes a lot of time) can be obtained using multiple cameras.

[0264] For example, it may be advantageous to obtain segment information for a specific object using a single camera, and to derive the characteristics of the object from components that are not affected by the object's three-dimensional features and / or the sensor's FOV among the segment information. For example, if the front is visible through the camera without being obstructed, the front components are well revealed in the segment (e.g., segment 1), so it may be advantageous to obtain reference points, movement speeds, etc. related to the front. Conversely, if the back is visible through the camera without being obstructed, the back components are well revealed in the segment (e.g., segment 2), so it may be advantageous to obtain reference points, movement speeds, etc. related to the back.

[0265] Since it is very rare or impossible for both the front and back sides to be captured by a single camera at the same time, it can be thought of as basically acquiring one type of reference plane with a single camera.

[0266] Therefore, by utilizing multiple cameras, two or more types of segments (first segment and second segment) can be acquired, for example, two types of segments (first segment and second segment) that reveal the front and rear of a car driving on a road. Furthermore, by combining the reference planes or segments acquired in this way, information about the object's bottom surface can be obtained, and ultimately, the desired (center) reference point or object length can be acquired.

[0267] Objects captured by multiple cameras may have the same or similar resolution or accuracy if captured from the same or similar distances. However, in reality, as shown in Figure x, the distance from each camera to the object may differ. Therefore, a method may be needed to process each measurement value and acquire the main features (length, reference point, etc.) of the object in response to detection with different resolutions, accuracies, or error ranges. As described above, when a specific object is detected by multiple cameras with different resolutions, accuracies, or error ranges, it may be difficult to use the measurement values ​​as they are because they have instantaneous different characteristics. In this case, an additional procedure may be needed to make the measurement values ​​measured by each camera have the same or similar characteristics.

[0268] For example, a first sensor may obtain first information. For example, the first information may be information related to a first segment of an object. For example, the first information may be information about the front of the object. For example, a second sensor may obtain second information. For example, the second information may be information related to a second segment of the object. For example, the second information may be information about the back of the object.

[0269] For example, a first device may include a first sensor. For example, a second device may include a second sensor.

[0270] For example, the first device can obtain information related to the bottom surface of the object based on the first information.

[0271] For example, the first device can receive the second information from the second device. For example, the first device can obtain information related to the bottom surface of the object based on the first information and the second information.

[0272] For example, the third device can receive the first information from the first device and the second information from the second device. For example, the third device can obtain information related to the bottom surface of the object based on the first information and the second information.

[0273] For example, the first device may be an RSU-based camera device. For example, the first device may be a V2X UE. For example, the first device may be an AR UE. For example, the first device may be a UAV. For example, the first device may be a UE including a lidar. For example, the first device may be a base station. For example, the first device may be an Internet of Things (IoT) device.

[0274] For example, the second device may be an RSU-based camera device. For example, the second device may be a V2X UE. For example, the second device may be an AR UE. For example, the second device may be a UAV. For example, the second device may be a UE including a lidar. For example, the second device may be a base station. For example, the second device may be an IoT device.

[0275] For example, the third device may be an RSU-based camera device. For example, the third device may be a V2X UE. For example, the third device may be an AR UE. For example, the third device may be a UAV. For example, the third device may be a UE including a lidar. For example, the third device may be a base station. For example, the third device may be an edge computing server. For example, the third device may be a satellite. For example, the third device may be a transparent satellite. For example, the third device may be a regenerative satellite. For example, the third device may be an IoT device.

[0276] 2.1. Obtaining the object's floor surface

[0277] In order to detect the bottom surface of the above detection object, it is necessary to detect a segment of the bottom surface or determine the area occupied by the bottom surface among the detected segments.

[0278] To achieve this, a method may be used to acquire individual segments from the sensors and then combine them. Since the segments detected by each sensor must overlap at least in the floor area, the common area will include the floor. Minimizing the common area, for example, when each sensor senses without overlapping areas or has FOVs in completely opposite directions, allows for more accurate floor acquisition.

[0279] Alternatively, the floor surface can be reconstructed by sharing and combining components that are hidden or not acquired from each sensor among the components that make up the floor surface. In particular, when the floor surface has a known shape, especially a polygonal shape, information about line segments, points, etc. that were not acquired by a specific sensor can be acquired from other sensor(s) to reconstruct a polygonal shape close to the shape of the floor surface.

[0280] 2.1.1. Obtaining front and back segments of detected objects

[0281] FIGS. 16A, 16B, and 16C illustrate coordinate transformations between an image plane and a real plane using homography according to one embodiment of the present disclosure. The embodiments of FIGS. 16A, 16B, and 16C may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0282] Cameras that can acquire a reference plane in the same direction may also be installed in the same direction, or may be installed in a situation where auxiliary cameras are installed in a situation where a main camera exists to pursue a diversity effect as multiple cameras, or may have different functions (e.g., zoom in / out shooting, pan / tilt / zoom functions compared to general shooting) or different FOVs (e.g., field of view) with the same or similar installation location or direction.

[0283] Therefore, to achieve the above-mentioned purpose (acquiring both the first segment and the second segment and / or measuring the length of the first object), images from cameras installed at different locations may be utilized. Furthermore, if the coverage of the cameras installed at different locations overlaps, it may be that they are photographing the same object at the same time.

[0284] The configuration of the above multiple cameras or sensors may be, for example, such that the first sensor faces the front of the first object, and the second sensor faces the rear of the first object. Alternatively, the second sensor may not be facing the exact rear of the vehicle, but may be positioned at a position capable of detecting a rear reference point, for example, in the direction of the side or rear of the vehicle.

[0285] The above first sensor and second sensor can obtain segment information of an object through segmentation using background removal or other image processing methods.

[0286] At this time, each segment includes the part occupied by the bottom surface of the object, but also includes the part occupied by areas (front, back, side, top, etc.) that may occur due to the characteristics of the three-dimensional structure of the object other than the bottom surface.

[0287] When the image (perspective view) of the segment generated from the first sensor is projected onto the x, y plane by the homography (e.g., H^(-1)) of Fig. 16a, it is divided into the floor surface and other components as in Fig. 16b, and when the image of the segment generated from the second sensor by the perspective view is projected onto the x, y plane by the homography of Fig. 16a, it is similarly divided into the floor surface and other components as in Fig. 16c.

[0288] Therefore, to obtain only the floor surface, one can obtain the common portion of the images of the first and second segments, for example, by finding the intersection portion. Of course, this can be done if the installation environments of the first and second sensors, and the situation in which the object exists, satisfy certain conditions, so that the common portion of the segments does not contain any components other than the floor surface of the object.

[0289] More specifically, as in the example of Figure x., in the case where the floor is a square shape, in a general CCTV installation environment, 3 out of 4 points on the floor can be acquired and 1 point is covered. This can be achieved as long as the point covered by the first sensor and the point covered by the second sensor are different. For example, among the 4 line segments on the floor, 2 line segments (or half triangles) can be determined by the 1st sensor, and the remaining 2 line segments (or another half triangle) can be determined by the 2nd sensor.

[0290] At this time, the more segment information is collected from the sensors and the more common parts are taken, the higher the probability of obtaining all four segments of the floor surface as described above, so the floor surface can be obtained more accurately.

[0291] For the above same detection object, the first sensor and the second sensor (or additional sensors) must be matched with each other so that it can be confirmed in advance that they are the same object.

[0292] For example, according to one embodiment of the present disclosure, a first sensor may obtain first information. For example, the first information may be information related to a first segment of an object. For example, the first information may be information about the front of the object. For example, a second sensor may obtain second information. For example, the second information may be information related to a second segment of the object. For example, the second information may be information about the back of the object.

[0293] For example, according to one embodiment of the present disclosure, a first device may include a first sensor. For example, a second device may include a second sensor.

[0294] For example, according to one embodiment of the present disclosure, the first device can obtain information related to the bottom surface of the object based on the first information.

[0295] For example, according to one embodiment of the present disclosure, the first device can receive the second information from the second device. For example, the first device can obtain information related to the bottom surface of the object based on the first information and the second information.

[0296] For example, according to one embodiment of the present disclosure, the third device can receive the first information from the first device and the second information from the second device. For example, the third device can obtain information related to the bottom surface of the object based on the first information and the second information.

[0297] For example, according to one embodiment of the present disclosure, the first device may be an RSU-based camera device. For example, the first device may be a V2X UE. For example, the first device may be an AR UE. For example, the first device may be a UAV. For example, the first device may be a UE including a lidar. For example, the first device may be a base station. For example, the first device may be an Internet of Things (IoT) device.

[0298] For example, according to one embodiment of the present disclosure, the second device may be an RSU-based camera device. For example, the second device may be a V2X UE. For example, the second device may be an AR UE. For example, the second device may be a UAV. For example, the second device may be a UE including a lidar. For example, the second device may be a base station. For example, the second device may be an IoT device.

[0299] For example, according to one embodiment of the present disclosure, the third device may be an RSU-based camera device. For example, the third device may be a V2X UE. For example, the third device may be an AR UE. For example, the third device may be a UAV. For example, the third device may be a UE including a lidar. For example, the third device may be a base station. For example, the third device may be an edge computing server. For example, the third device may be a satellite. For example, the third device may be a transparent satellite. For example, the third device may be a regenerative satellite. For example, the third device may be an IoT device.

[0300] 2.1.2. Obtaining the bottom surface components (vertices, line segments) of the detected object

[0301] FIGS. 17A, 17B, 17C, 17D, 17E, 17F, and 17G illustrate coordinate transformations between an image plane and a real plane using homography according to an embodiment of the present disclosure. The embodiments of FIGS. 17A, 17B, 17C, 17D, 17E, 17F, and 17G may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0302] [Transmission or sharing of some information such as points, line segments, and vectors related to the floor surface]

[0303] As described above, it is possible to directly compare segment information acquired from each sensor. However, in situations where information detected from each sensor must be transmitted and shared, transmitting all segment information may require a large amount of information, which may be burdensome in terms of transmission resources and / or may require more processing power for the information. In particular, if the sensors belong to the same upper network entity, the information collected from each sensor may be easily integrated. However, even in this process, it may be more efficient to further reduce the amount of information and transmit abbreviated information. Alternatively, there may be cases where the information acquired from the sensors is not processed by the same upper entity. In such cases, a method may be required to transmit the information acquired from each sensor separately and as efficiently as possible. Therefore, rather than transmitting or sharing all segment information detected from each sensor, it is possible to extract some information related to the floor surface from the segment, share and reconfigure it among the sensors, and acquire floor surface information.

[0304] For example, the image (perspective view) of the segment generated from the first sensor is a homography (e.g., ) is projected onto the x, y plane, as in Fig. 17b, the vertex(es) constituting the floor surface and / or the components of the line(s) or vector(s) constituting the floor surface can be obtained or estimated. Similarly, the image (perspective view) of the segment generated from the second sensor can be obtained as the homography of Fig. 17a (e.g., ) by projecting it onto the x, y plane, as in Fig. 17c, the vertex(es) constituting the floor surface and / or the components of the line(s) or vector(s) constituting the floor surface can be obtained or estimated. The floor surface can be reconstructed by combining the above information to obtain the floor surface area of ​​the detected object from the above components.

[0305] [The first sensor acquires the floor surface on its own]

[0306] As in Fig. 17d, if information on three out of four points is obtained from the first sensor except for one point forming the floor surface, in the case of an object known as a rectangular floor surface, the floor surface can be obtained by independently creating two line segments / vectors parallel to the three points of the first sensor, or one vertex, and two line segments / vectors surrounding it, and determining the point where the newly created line segments / vectors meet as the remaining point, and combining these together.

[0307] [ Estimation / acquisition of a vertex and associated line segment / vector component from the first sensor ]

[0308] As shown in FIGS. 17d and 17e, if information on all points except one point on the floor surface is obtained from the first sensor, and if the object is known to have a rectangular floor surface, information on three out of four points may be obtained only from the second sensor. From the second sensor installed at a position opposite to the first sensor, ideally at a point (or direction) symmetrical to the first sensor with the object as the center, information on the remaining point can be obtained and the floor surface can be completed, as shown in FIG. 17e.

[0309] When at least one vertex can be acquired from each sensor, except in certain circumstances (for example, when an object is occluded or sensed in a state where the vertex cannot be identified, etc.), information about one vertex of the floor surface and two line segments of the floor surface surrounding the point, or information about vectors associated with the two line segments, can be estimated and acquired from the first sensor. Acquiring information about the line segment may be equivalent to acquiring two points constituting the line segment, and thus obtaining one vertex of the floor surface and two line segments surrounding the point may be equivalent to obtaining three points constituting the floor surface. One of the two line segments refers to a line segment that passes through, touches, or is parallel to a cross-section in the direction of movement among segment components of the floor surface (the front or rear bumper part in the case of a vehicle object), and the other line segment refers to a line segment corresponding to a motion vector in the direction of movement (the side part of the vehicle in the case of a vehicle object) or a line segment in a direction parallel thereto, and can be acquired by tracking the segment. In this case, the floor surface can be completed by simply acquiring information about the remaining point on the floor surface from the second sensor, as shown in Fig. 17e, and combining it with the information acquired from the first sensor.

[0310] Or, even if information about two line segments surrounding the vertices of the floor surface cannot be clearly obtained from the first sensor, information about vectors associated with the two line segments can be obtained by simply obtaining or estimating a cross-section of the movement direction or some components or directions corresponding to the motion vector of the movement direction. Additionally, if information about one vertex of the floor surface and two line segments surrounding it or vectors associated with the two line segments is obtained from the second sensor, the floor surface can be completed by combining the information obtained from the two sensors, as shown in FIG. 17f. On the other hand, if information about only one vertex of the floor surface is obtained from the second sensor, the two line segments surrounding it or vectors associated with the two line segments can be generated with the vertex as the center in parallel to the two line segments (or associated vectors) obtained from the existing first sensor, as shown in FIG. 17g, and then this can be combined with the information obtained from the first sensor to complete the floor surface.

[0311] FIGS. 18A, 18B, and 18C illustrate coordinate transformations between an image plane and a real plane using homography according to one embodiment of the present disclosure. The embodiments of FIGS. 18A, 18B, and 18C may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0312] [ Acquire one vertex from the first sensor ]

[0313] When information about one vertex of the floor surface is obtained from the first sensor, and information about the remaining points of the floor surface can be obtained from the second sensor located in the opposite direction as described above, the floor surface can be constructed by combining this information. On the other hand, there may be a case where information about one vertex of the floor surface is obtained from the first sensor, and the remaining sensors, including the second sensor, similarly obtain information about only one vertex of the floor surface. For example, each sensor may only perform the role of finding the closest vertex (in terms of the image) from the sensor to the target object.

[0314] If the above floor surface is known to be, for example, of a rectangular type, and there are four sensors installed in different or different directions, including the first sensor, and if different vertices are obtained from each sensor, all four points constituting the floor surface can be obtained, and thus the floor surface can be completed from these four points, as shown in Fig. 18a.

[0315] If there are three sensors installed in different or different directions, including the first sensor, and if different vertices are obtained from each sensor, three or more points constituting the floor surface can be obtained, and as shown in Fig. 18b, by extending the line segments / vectors associated with these three points as described above, the remaining point can be obtained and the floor surface can be completed.

[0316] In the case where there are two sensors installed in different or different directions, and different vertices are obtained from each sensor, it is possible to obtain two or more points constituting the floor surface, but the floor surface cannot be completed with these alone. Instead, a line segment constituting the floor surface or related to the floor surface can be created, as shown in Fig. 18c. This line segment may be a line segment of the floor surface or a diagonal component of the floor surface.

[0317] FIGS. 19A, 19B, 19C, and 19D illustrate coordinate transformations between an image plane and a real plane using homography according to one embodiment of the present disclosure. The embodiments of FIGS. 19A, 19B, 19C, and 19D may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0318] At this time, if you trace the two points acquired as shown in Fig. 19a and draw an extension line in the direction of movement (and the opposite direction) for each point, and an extension line in the direction perpendicular to the direction of movement, you can obtain the components corresponding to one vertex and two vectors surrounding it as mentioned above. At this time, if four points are formed including two virtual points as shown in Fig. 19b, it can be seen that the floor has been estimated, and in the case of Fig. 19c, although the floor has not been estimated, it can be seen that the components corresponding to / associated with the length or motion vector (movement direction and speed) of the object have been obtained. On the other hand, in the case of Fig. 19d, it can be seen that the components corresponding to / associated with the width (cross-section) of the object have been obtained. In the cases of Figs. 19c and 19d, since the floor cannot be constructed by itself, additional information can be acquired (for example, if both Figs. 19c and 19d are acquired, the floor can be constructed) to construct the floor.

[0319] Ultimately, in this case as well, the more information related to the floor surface (e.g., vertices or line segments) is collected from more sensors and combined, the higher the probability of being able to completely and accurately acquire the floor surface as described above.

[0320] From the floor surface obtained as described above, information such as the object's length, width, and center point (reference point) can be obtained. Meanwhile, if the floor surface cannot be completely obtained, it can be obtained by combining it with other methods, and even with only partial floor surface information, the object's center point, length, or width can be obtained.

[0321] For example, if it is determined that the two points acquired as in the case of FIG. 19b are diagonal components of the floor, the center point of the two points can be used as the reference point or center point. Or, if it is determined that the two points acquired as in the case of FIG. 19c are components corresponding to the side of the floor, the distance between the two points can be determined as the length of the object. Or, if it is determined that the two points acquired as in the case of FIG. 19d are components corresponding to the front or back of the floor, the distance between the two points can be determined as the width of the object. At this time, in order to accurately obtain the length, width, etc. of the object, the average value of the distances between the derived vertices can be taken to reduce errors that may occur due to sensor(s) of different accuracies.

[0322] For the above same detection object, the first sensor and the second sensor (or additional sensors) can be matched to each other so that it can be confirmed in advance that they are the same object.

[0323] 2.2. Creating and sending object detection information messages

[0324] In the case of acquiring the front segment and / or the back segment and determining the common part as the floor, it may be inefficient to transmit the raw data information of the detected segment itself because the amount of information to be transmitted is very large. Therefore, it may be appropriate to transmit information of the main vertices or line segments acquired from the segment (this is also information of the points (at least 2 points) that ultimately constitute the line segment). Alternatively, even if it is not a complete line segment, a unit vector / vector indicating the direction and / or magnitude (and / or a value indicating the angle or heading of the vector) can be generated and transmitted.

[0325] In a situation where there is a message (e.g., a first message) pointing to the same kind of vertex (e.g., the first vertex) or line segment (e.g., the first line segment) targeting the specific identical object (e.g., a situation where a message containing the detection result for the first vertex is already being transmitted and a specific entity wants to additionally generate a message containing the detection result for the first vertex), for example, when an entity (e.g., an RSU) detecting a specific vertex (e.g., the first vertex) of the object receives the first message, if the detection accuracy or the accuracy of the location information of the object obtained from the first message (e.g., the first accuracy) is more accurate than the accuracy of the entity detecting the object or the accuracy of the location information (e.g., the second accuracy), the entity sends an additional message (e.g., a second message) for the object (redundancy mitigation) (From a point of view) may not necessarily be created.

[0326] However, apart from the purpose of the above redundancy mitigation, the second message may need to be sent to transmit information about the detected object to entities (e.g., VRU, vehicle, RSU, eNB, etc.) to which the first message does not reach. In this case, the transmission period (interval) may be lengthened and / or transmission resources such as transmission power and transmission frequency may be adjusted (reduced or increased) for efficient use of transmission resources.

[0327] However, in a situation where there is no message pointing to the same type of reference point targeting the specific identical object, or in a situation where there is only a message (e.g., a first message) pointing to a different type of reference point (e.g., a second vertex) targeting the specific identical object, the entity detecting the specific vertex (e.g., the first vertex) of the object may need to generate an additional message (e.g., a second message) for the object.

[0328] Additionally, in order to sense the coverage of a message associated with the detected object and transmit it accordingly, the message containing the information related to the detected object may contain coverage information for the detection sensor.

[0329] For example, it can be a circular, oval, or arbitrary polygonal shape, and more specifically, in the case of a camera sensor, it can contain coverage information in a square shape. For example, it can contain information about four points P1 to P4 that constitute the coverage of the camera, and these points can contain information about four points of the x, y coordinate system of GPS, for example, or information about four points of relative coordinates with respect to a specific reference point such as an RSU. In addition to the coverage information, the main installation information of the RSU that generated the coverage (for example, the main installation environment such as the installation location, installation height, tilt angle, or the main specification information of the installed sensor, etc.) can also be transmitted.

[0330] Such coverage information or related information may be transmitted in a message associated with the detected object, either continuously, periodically, intermittently, or event-based. However, as the amount of information to be transmitted increases, transmitting the information in a message associated with the detected object may become inefficient. Therefore, in the case of detection using a fixed (or semi-static) sensor such as the above detection environment, for example, an RSU CCTV, key information about the sensor (e.g., installation location, coverage information) may be defined in advance as key POI information in the HD map.

[0331] For example, information related to the object detection may include, with respect to the sensor, the ID of the sensor, the focal length of the sensor, the sensor size, the installation location of the sensor, the installation height, the installation direction, the tilt angle, with respect to the coverage, four coverage points (relative location from the RSU CCTV installation location or GPS absolute location), with respect to the detected object, the vertex type of the detected object (the first vertex to the fourth vertex or the center point, ...), the location of the corresponding reference point (relative location from the RSU CCTV installation location or GPS absolute location), the accuracy of the reference point, etc.

[0332] The above information may be composed of additional fields in a required data part (e.g., part I) of a BSM, PSM message, etc. for the above object, or may be composed of additional fields in an optional data part (e.g., part II).

[0333] Alternatively, the above information may be composed of additional fields, such as a sensor that sensed the object and a CPM message or SDSM message that transmits the sensing information.

[0334] However, if the first sensor and the second sensor (and the associated sensor coverage) are included in the same base station coverage or if the information obtained from the first sensor and the second sensor is processed on the same server, only the information on the reference point finally derived from the first to fourth vertices for the object needs to be transmitted, so among the information related to the object detection, the type of the vertex of the detected object (the first to fourth vertices or the center point, ... or if only the information on the center point is transmitted, it can be omitted), the location of the reference point (relative location from the RSU CCTV installation location or GPS absolute location), the accuracy of the vertex (or reference point / center point), etc. may be included.

[0335] For example, whether (some) of the proposed methods / rules of the present disclosure are applicable and / or their associated parameters (e.g., thresholds) can be set resource pool-specifically (or differently or independently). For example, whether (some) of the proposed methods / rules of the present disclosure are applicable and / or their associated parameters (e.g., thresholds) can be set congestion level-specifically (or differently or independently). For example, whether (some) of the proposed methods / rules of the present disclosure are applicable and / or their associated parameters (e.g., thresholds) can be set service priority-specifically (or differently or independently). For example, whether (some) of the proposed methods / rules of the present disclosure are applicable and / or their associated parameters (e.g., thresholds) can be set service type-specifically (or differently or independently). For example, whether (some) of the proposed schemes / rules of the present disclosure are applicable and / or related parameters (e.g., thresholds) can be set specifically (or differently or independently) for QoS requirements (e.g., latency, reliability). For example, whether (some) of the proposed schemes / rules of the present disclosure are applicable and / or related parameters (e.g., thresholds) can be set specifically (or differently or independently) for PQI (5QI (5G QoS identifier) ​​for PC5). For example, whether (some) of the proposed schemes / rules of the present disclosure are applicable and / or related parameters (e.g., thresholds) can be set specifically (or differently or independently) for traffic types (e.g., periodic generation or aperiodic generation). For example, whether (some) of the proposed schemes / rules of the present disclosure are applicable and / or related parameters (e.g., thresholds) can be set specifically (or differently or independently) for SL transmission resource allocation modes (e.g., mode 1 or mode 2).For example, whether (some) of the proposed methods / rules of the present disclosure are applicable and / or related parameters (e.g., thresholds) may be configured specifically (or differently or independently) for a Tx profile (e.g., a Tx profile indicating that the service supports sidelink DRX operation or a Tx profile indicating that the service does not need to support sidelink DRX operation).

[0336] For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be specifically (or differently or independently) set depending on whether PUCCH configuration is supported (e.g., when PUCCH resources are configured or when PUCCH resources are not configured). For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be specifically (or differently or independently) set for a resource pool (e.g., a resource pool where PSFCH is configured or a resource pool where PSFCH is not configured). For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be specifically (or differently or independently) set for a type of service / packet. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be specifically (or differently or independently) set for a priority of a service / packet. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for a QoS profile or QoS requirement (e.g., URLLC / EMBB traffic, reliability, latency). For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for a PQI. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for a PFI. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for a cast type (e.g., unicast, groupcast, broadcast). For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for a (resource pool) congestion level (e.g., CBR).For example, whether the proposed rule of the present disclosure is applicable and / or the related parameter setting value can be set specifically (or differently or independently) for an SL HARQ feedback scheme (e.g., NACK-only feedback, ACK / NACK feedback). For example, whether the proposed rule of the present disclosure is applicable and / or the related parameter setting value can be set specifically (or differently or independently) for HARQ Feedback Enabled MAC PDU transmission. For example, whether the proposed rule of the present disclosure is applicable and / or the related parameter setting value can be set specifically (or differently or independently) for HARQ Feedback Disabled MAC PDU transmission. For example, whether the proposed rule of the present disclosure is applicable and / or the related parameter setting value can be set specifically (or differently or independently) depending on whether a PUCCH-based SL HARQ feedback reporting operation is set. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) depending on whether pre-emption or pre-emption-based resource reselection is performed. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) depending on whether re-evaluation or re-evaluation-based resource reselection is performed. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for (L2 or L1) (source and / or destination) identifiers. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for (L2 or L1) (a combination of source ID and destination ID) identifiers.For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for an identifier (L2 or L1) (a combination of a pair of source ID and destination ID and a cast type). For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for a direction of a pair of source layer ID and destination layer ID. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for a PC5 RRC connection / link. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) depending on whether SL DRX is performed. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) depending on whether SL DRX is supported. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for the SL mode type (e.g., resource allocation mode 1 or resource allocation mode 2). For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for the case of performing (a)periodic resource reservation. For example, whether the proposed rule of the present disclosure applies and / or the related parameter setting values ​​can be set specifically (or differently or independently) for a Tx profile (e.g., a Tx profile indicating that the service supports sidelink DRX operation or a Tx profile indicating that the service does not need to support sidelink DRX operation).

[0337] The applicability of the proposals and proposed rules of the present disclosure (and / or related parameter settings) may also be applied to mmWave sidelink operation.

[0338] For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed service type-specifically (or differently or independently). For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed (or differently or independently) (LCH or service) priority-specifically. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed (or differently or independently) QoS requirements (e.g., latency, reliability, minimum communication range)-specifically. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed PQI parameter-specifically (or differently or independently). For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed SL HARQ feedback ENABLED LCH / MAC PDU (transmission)-specifically (or differently or independently). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL HARQ feedback DISABLED LCH / MAC PDU (transmission). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for CBR measurement values ​​of resource pools. For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL cast types (e.g., unicast, groupcast, broadcast).For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL groupcast HARQ feedback options (e.g., NACK only feedback, ACK / NACK feedback, NACK only feedback based on TX-RX distance). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL mode 1 CG type (e.g., SL CG type 1 or SL CG type 2). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for SL mode type (e.g., mode 1 or mode 2). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for resource pool. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) whether the PSFCH resource is a configured resource pool. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for a source (L2) ID. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for a destination (L2) ID. For example, whether the rule applies and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for a PC5 RRC connection link.For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for an SL link. For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for a connection state (with a base station) (e.g., RRC CONNECTED state, IDLE state, INACTIVE state). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for an SL HARQ process (ID). For example, whether the rule is applied and / or the parameter values ​​related to the proposed method / rule of the present disclosure can be set / allowed specifically (or differently or independently) for whether the SL DRX operation (of a TX UE or an RX UE) is performed. For example, whether the rule applies and / or the parameter values ​​related to the proposed scheme / rule of the present disclosure can be set / allowed specifically (or differently or independently) depending on whether the UE is power saving (TX or RX). For example, whether the rule applies and / or the parameter values ​​related to the proposed scheme / rule of the present disclosure can be set / allowed specifically (or differently or independently) if (from a specific UE perspective) PSFCH TX and PSFCH RX overlap (and / or multiple PSFCH TXs (which exceed the UE capability)) (and / or if PSFCH TX (and / or PSFCH RX) are omitted). For example, whether the rule applies and / or the parameter values ​​related to the proposed scheme / rule of the present disclosure can be set / allowed specifically (or differently or independently) depending on whether the RX UE actually (successfully) receives a PSCCH (and / or PSSCH) (re)transmission from a TX UE.

[0339] For example, in the present disclosure, the setting (or designation) wording can be extended to include a form in which a base station notifies a terminal through a predefined (physical layer or upper layer) channel / signal (e.g., SIB, RRC, MAC CE) (and / or a form provided through pre-configuration and / or a form in which a terminal notifies another terminal through a predefined (physical layer or upper layer) channel / signal (e.g., SL MAC CE, PC5 RRC)).

[0340] For example, in the present disclosure, the PSFCH wording can be extended to (NR or LTE) PSSCH (and / or (NR or LTE) PSCCH) (and / or (NR or LTE) SL SSB (and / or UL channel / signal)). In addition, the proposed method of the present disclosure can be extended (in a new form) by being combined with each other.

[0341] For example, in the present disclosure, a specific threshold value may mean a threshold value that is defined in advance, or set (in advance) by a higher layer (including an application layer) of a network or a base station or a terminal. For example, in the present disclosure, a specific setting value may mean a value that is defined in advance, or set (in advance) by a higher layer (including an application layer) of a network or a base station or a terminal. For example, an operation set by a network / base station may mean an operation that a base station sets (in advance) to a UE via a higher layer RRC signaling, sets / signals to the UE via MAC CE, or signals to the UE via DCI.

[0342] In embodiments of the present disclosure, a message may be interpreted as a control message or a data message or a signal or a data signal or a control signal.

[0343] In embodiments of the present disclosure, the beam management operation may be interpreted as being replaced with beam selection or spatial filter selection or beam pairing or spatial filter pairing or beam failure recovery or spatial filter recovery or beam sweeping or spatial filter sweeping or beam switching or spatial filter switching or measurement of reference signal resources or measurement reporting of reference signal resources or beam reporting or spatial filter reporting, etc.

[0344] In embodiments of the present disclosure, the beam may be interpreted as being replaced by an RS or RS resource or a spatial filter resource.

[0345] In embodiments of the present disclosure, RS may be interpreted as being replaced with RS resources or spatial filter resources.

[0346] In the embodiments of the present disclosure, the transmitting terminal may be interpreted as a terminal transmitting a beam, a terminal transmitting a beam RS, a terminal transmitting a beam RS resource, etc.

[0347] In the embodiments of the present disclosure, the receiving terminal may be interpreted as a terminal that receives a beam, a terminal that receives a beam RS, a terminal that receives a beam RS resource, etc.

[0348] In an embodiment of the present disclosure, the transmission beam or reception beam information transmitted and received by the terminal may be interpreted as being replaced with resource information of an RS (reference signal) associated with the transmission beam and resource information of an RS (reference signal) associated with the reception beam.

[0349] In embodiments of the present disclosure, the direct communication request (DCR) and / or direct communication accept (DCA) messages may be interpreted as being replaced with PC5-S DCR and / or PC5-S DCA messages.

[0350] In embodiments of the present disclosure, spatial setting and / or transmission configuration indication (TCI) information and / or quasi-co-location (QCL) information and / or beams, etc. may refer to each other and / or may be interpreted as being replaced with beam-related information, beam direction, spatial domain transmission or reception filter, etc.

[0351] In embodiments of the present disclosure, a beam may be interpreted as a transmit beam or a receive beam or a spatial filter or a spatial transmit (TX) filter or a spatial domain transmit (TX) filter or a spatial receive (RX) filter or a spatial domain receive (RX) filter.

[0352] In embodiments of the present disclosure, the transmit / transmit beam may be interpreted as being replaced by a spatial transmit (TX) filter or a spatial domain transmit (TX) filter.

[0353] In embodiments of the present disclosure, the receive beam may be interpreted by replacing it with a spatial receive (RX) filter or a spatial domain receive (RX) filter.

[0354] In an embodiment of the present disclosure, the same spatial setting information (or beam information) for transmission may mean that the spatial domain TX filter of the terminal is the same for two different transmission signals. In an embodiment of the present disclosure, the same spatial setting information (or beam information) for reception may mean that two different reception signals are in a QCL 'TypeD' relationship and / or use the same spatial RX parameters.

[0355] For example, the control message (or signal) and / or data message (or signal) in the present disclosure may mean a control message (or signal) and / or data message (or signal) for wireless communication (e.g., LTE communication, NR communication, 6G communication, Wi-Fi communication, Bluetooth communication, and / or other wireless communication) other than a radar signal.

[0356] For example, the source ID and destination ID disclosed in the present disclosure may mean a source layer 1 ID and a destination layer 1 ID, and / or may mean a source layer 2 ID and a destination layer 2 ID.

[0357] FIG. 20 illustrates a method for a first device to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 20 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0358] Referring to FIG. 20, for example, in step S2010, the first device can obtain front information of an object. For example, in step S2020, the first device can obtain back information of the object from the second device. For example, in step S2030, the first device can obtain information related to a bottom surface of the object based on at least one of the front information of the object or the back information of the object. For example, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object can be obtained based on the front information of the object and the back information of the object.

[0359] For example, based on the fact that the front information of the object includes information related to three vertices of the floor surface, and based on the fact that the back information of the object is not available, information related to the floor surface of the object can be obtained based only on the front information of the object.

[0360] For example, based on the fact that the front information of the object includes information related to one vertex of the floor surface and information related to two vectors related to the one vertex, and based on the fact that the back information of the object includes information related to one vertex and another vertex of the object, information related to the floor surface of the object can be obtained based on the front information of the object and the back information of the object.

[0361] For example, based on the fact that the front information of the object includes information related to one vertex of the floor surface and information related to two vectors related to the one vertex, and based on the fact that the back information of the object includes information related to one vertex and a vertex of another object and information related to two vectors related to the other vertex, information related to the floor surface of the object can be obtained based on the front information of the object and the back information of the object.

[0362] For example, based on the front information of the object including information related to one vertex of the floor surface, based on the back information of the object including information related to one vertex and another vertex of the object, information related to the floor surface of the object can be obtained based on the front information of the object including a movement direction of the one vertex and a vertical direction of the movement direction of the one vertex, and the back information of the object including a movement direction of the other vertex and a vertical direction of the movement direction of the other vertex.

[0363] For example, based on the front information of the object including information related to one vertex of the floor surface, and based on the back information of the object including information related to one vertex and another vertex, information related to the floor surface of the object can be obtained based on the front information of the object, the back information of the object, and information related to the object from a third device.

[0364] For example, based on the front information of the object including information related to one vertex of the floor surface, and based on the back information of the object including information related to one vertex and another vertex, information related to the floor surface of the object can be obtained based on the front information of the object, the back information of the object, information related to the object from the third device, and information related to the object from the fourth device.

[0365] For example, the front information of the object can be obtained based on homography.

[0366] For example, the method may be performed by the first device. For example, the first device may be a first unmanned aerial vehicle. For example, the second device may be a second unmanned aerial vehicle.

[0367] For example, the method may be performed by the first device. For example, the first device may be a user equipment (UE) including a first lidar. For example, the second device may be a UE including a second lidar.

[0368] For example, the first device may be an RSU-based camera device. For example, the first device may be a V2X UE. For example, the first device may be an AR UE. For example, the first device may be a UAV. For example, the first device may be a UE including a lidar. For example, the first device may be a base station. For example, the first device may be an Internet of Things (IoT) device.

[0369] For example, the second device may be an RSU-based camera device. For example, the second device may be a V2X UE. For example, the second device may be an AR UE. For example, the second device may be a UAV. For example, the second device may be a UE including a lidar. For example, the second device may be a base station. For example, the second device may be an IoT device.

[0370] For example, the method may be performed by the third device. For example, the third device may be a satellite.

[0371] For example, the satellite may be a transparent satellite.

[0372] For example, the satellite may be a regenerative satellite.

[0373] For example, the third device may be an RSU-based camera device. For example, the third device may be a V2X UE. For example, the third device may be an AR UE. For example, the third device may be a UAV. For example, the third device may be a UE including a lidar. For example, the third device may be a base station. For example, the third device may be an edge computing server. For example, the third device may be a satellite. For example, the third device may be a transparent satellite. For example, the third device may be a regenerative satellite. For example, the third device may be an IoT device.

[0374] The above proposed method can be applied to a first device according to various embodiments of the present disclosure. For example, first, the processor (102) of the first device (100) can obtain front information of an object (for example, the processor (102) of the first device (100) can control the transceiver (106) to obtain front information of the object). For example, and then, the processor (102) of the first device (100) can obtain back information of the object from a second device (for example, the processor (102) of the first device (100) can control the transceiver (106) to obtain back information of the object from the second device). For example, and the processor (102) of the first device (100) can obtain information related to the bottom surface of the object based on at least one of the front information of the object or the back information of the object (for example, the processor (102) of the first device (100) can control the transceiver (106) to obtain information related to the bottom surface of the object based on at least one of the front information of the object or the back information of the object). For example, based on the fact that the front information of the object includes information related to three vertices of the bottom surface, and based on the fact that the back information of the object includes information related to vertices of the object that are different from the three vertices, information related to the bottom surface of the object can be obtained based on the front information of the object and the back information of the object.

[0375] According to one embodiment of the present disclosure, a first device may be provided. For example, the first device may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, when executed by the at least one processor, may cause the first device to: obtain front information of an object from a first device; obtain back information of the object from a second device; and obtain information related to a bottom surface of the object based on at least one of the front information of the object or the back information of the object. For example, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object that are different from the three vertices, information related to the bottom surface of the object may be obtained based on the front information of the object and the back information of the object.

[0376] For example, based on the fact that the front information of the object includes information related to three vertices of the floor surface, and based on the fact that the back information of the object is not available, information related to the floor surface of the object can be obtained based only on the front information of the object.

[0377] For example, based on the fact that the front information of the object includes information related to one vertex of the floor surface and information related to two vectors related to the one vertex, and based on the fact that the back information of the object includes information related to one vertex and another vertex of the object, information related to the floor surface of the object can be obtained based on the front information of the object and the back information of the object.

[0378] For example, based on the fact that the front information of the object includes information related to one vertex of the floor surface and information related to two vectors related to the one vertex, and based on the fact that the back information of the object includes information related to one vertex and a vertex of another object and information related to two vectors related to the other vertex, information related to the floor surface of the object can be obtained based on the front information of the object and the back information of the object.

[0379] For example, based on the front information of the object including information related to one vertex of the floor surface, based on the back information of the object including information related to one vertex and another vertex of the object, information related to the floor surface of the object can be obtained based on the front information of the object including a movement direction of the one vertex and a vertical direction of the movement direction of the one vertex, and the back information of the object including a movement direction of the other vertex and a vertical direction of the movement direction of the other vertex.

[0380] For example, based on the front information of the object including information related to one vertex of the floor surface, and based on the back information of the object including information related to one vertex and another vertex, information related to the floor surface of the object can be obtained based on the front information of the object, the back information of the object, and information related to the object from a third device.

[0381] For example, based on the front information of the object including information related to one vertex of the floor surface, and based on the back information of the object including information related to one vertex and another vertex, information related to the floor surface of the object can be obtained based on the front information of the object, the back information of the object, information related to the object from the third device, and information related to the object from the fourth device.

[0382] For example, the front information of the object can be obtained based on homography.

[0383] For example, the method may be performed by the first device. For example, the first device may be a first unmanned aerial vehicle. For example, the second device may be a second unmanned aerial vehicle.

[0384] For example, the method may be performed by the first device. For example, the first device may be a user equipment (UE) including a first lidar. For example, the second device may be a UE including a second lidar.

[0385] For example, the first device may be an RSU-based camera device. For example, the first device may be a V2X UE. For example, the first device may be an AR UE. For example, the first device may be a UAV. For example, the first device may be a UE including a lidar. For example, the first device may be a base station. For example, the first device may be an Internet of Things (IoT) device.

[0386] For example, the second device may be an RSU-based camera device. For example, the second device may be a V2X UE. For example, the second device may be an AR UE. For example, the second device may be a UAV. For example, the second device may be a UE including a lidar. For example, the second device may be a base station. For example, the second device may be an IoT device.

[0387] For example, the method may be performed by the third device. For example, the third device may be a satellite.

[0388] For example, the satellite may be a transparent satellite.

[0389] For example, the satellite may be a regenerative satellite.

[0390] For example, the third device may be an RSU-based camera device. For example, the third device may be a V2X UE. For example, the third device may be an AR UE. For example, the third device may be a UAV. For example, the third device may be a UE including a lidar. For example, the third device may be a base station. For example, the third device may be an edge computing server. For example, the third device may be a satellite. For example, the third device may be a transparent satellite. For example, the third device may be a regenerative satellite. For example, the third device may be an IoT device.

[0391] According to one embodiment of the present disclosure, a processing device configured to control a first device may be provided. For example, the processing device may include at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the first device to: obtain front information of an object from a first device; obtain back information of the object from a second device; and obtain information related to a bottom surface of the object based on at least one of the front information of the object or the back information of the object. For example, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object that are different from the three vertices, information related to the bottom surface of the object may be obtained based on the front information of the object and the back information of the object.

[0392] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having instructions recorded thereon may be provided. For example, the instructions, when executed, may cause a first device to: obtain front information of an object from the first device; obtain back information of the object from a second device; and obtain information related to a bottom surface of the object based on at least one of the front information of the object or the back information of the object. For example, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front information of the object and the back information of the object.

[0393] FIG. 21 illustrates a method for a second device to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 21 may be combined with various embodiments of the present disclosure.

[0394] Referring to FIG. 21, for example, in step S2110, the second device can obtain back information of the object. For example, in step S2120, the second device can transmit back information of the object to the first device. For example, information related to a bottom surface of the object can be obtained based on at least one of the front information of the object or the back information of the object. For example, based on the fact that the front information of the object includes information related to three vertices of the bottom surface, and based on the fact that the back information of the object includes information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object can be obtained based on the front information of the object and the back information of the object.

[0395] For example, based on the fact that the front information of the object includes information related to three vertices of the floor surface, and based on the fact that the back information of the object is not available, information related to the floor surface of the object can be obtained based only on the front information of the object.

[0396] For example, based on the fact that the front information of the object includes information related to one vertex of the floor surface and information related to two vectors related to the one vertex, and based on the fact that the back information of the object includes information related to one vertex and another vertex of the object, information related to the floor surface of the object can be obtained based on the front information of the object and the back information of the object.

[0397] For example, based on the fact that the front information of the object includes information related to one vertex of the floor surface and information related to two vectors related to the one vertex, and based on the fact that the back information of the object includes information related to one vertex and a vertex of another object and information related to two vectors related to the other vertex, information related to the floor surface of the object can be obtained based on the front information of the object and the back information of the object.

[0398] For example, based on the front information of the object including information related to one vertex of the floor surface, based on the back information of the object including information related to one vertex and another vertex of the object, information related to the floor surface of the object can be obtained based on the front information of the object including a movement direction of the one vertex and a vertical direction of the movement direction of the one vertex, and the back information of the object including a movement direction of the other vertex and a vertical direction of the movement direction of the other vertex.

[0399] For example, based on the front information of the object including information related to one vertex of the floor surface, and based on the back information of the object including information related to one vertex and another vertex, information related to the floor surface of the object can be obtained based on the front information of the object, the back information of the object, and information related to the object from a third device.

[0400] For example, based on the front information of the object including information related to one vertex of the floor surface, and based on the back information of the object including information related to one vertex and another vertex, information related to the floor surface of the object can be obtained based on the front information of the object, the back information of the object, information related to the object from the third device, and information related to the object from the fourth device.

[0401] For example, the front information of the object can be obtained based on homography.

[0402] For example, the first device may be a first unmanned aerial vehicle. For example, the second device may be a second unmanned aerial vehicle.

[0403] For example, the first device may be a user equipment (UE) including a first lidar. For example, the second device may be a UE including a second lidar.

[0404] For example, the first device may be an RSU-based camera device. For example, the first device may be a V2X UE. For example, the first device may be an AR UE. For example, the first device may be a UAV. For example, the first device may be a UE including a lidar. For example, the first device may be a base station. For example, the first device may be an Internet of Things (IoT) device.

[0405] For example, the second device may be an RSU-based camera device. For example, the second device may be a V2X UE. For example, the second device may be an AR UE. For example, the second device may be a UAV. For example, the second device may be a UE including a lidar. For example, the second device may be a base station. For example, the second device may be an IoT device.

[0406] For example, the third device may be a satellite.

[0407] For example, the satellite may be a transparent satellite.

[0408] For example, the satellite may be a regenerative satellite.

[0409] For example, the third device may be an RSU-based camera device. For example, the third device may be a V2X UE. For example, the third device may be an AR UE. For example, the third device may be a UAV. For example, the third device may be a UE including a lidar. For example, the third device may be a base station. For example, the third device may be an edge computing server. For example, the third device may be a satellite. For example, the third device may be a transparent satellite. For example, the third device may be a regenerative satellite. For example, the third device may be an IoT device.

[0410] The proposed method can be applied to devices according to various embodiments of the present disclosure. For example, first, the processor (202) of the second device (200) can obtain information about the back surface of an object (for example, the processor (202) of the second device (200) can control the transceiver (106) to obtain information about the back surface of an object). For example, and then, the processor (202) of the second device (200) can control the transceiver (206) to transmit information about the back surface of the object to the first device. For example, based on the fact that the front surface information of the object includes information related to three vertices of the bottom surface, and based on the fact that the back surface information of the object includes information related to vertices of the object that are different from the three vertices, information about the bottom surface of the object can be obtained based on the front surface information of the object and the back surface information of the object.

[0411] According to one embodiment of the present disclosure, a second device may be provided. For example, the second device may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the second device to: obtain information about the back surface of an object; and transmit the information about the back surface of the object to a first device. For example, information related to a bottom surface of the object may be obtained based on at least one of the front surface information of the object or the back surface information of the object. For example, based on the front surface information of the object including information related to three vertices of the bottom surface, and based on the back surface information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front surface information of the object and the back surface information of the object.

[0412] For example, based on the fact that the front information of the object includes information related to three vertices of the floor surface, and based on the fact that the back information of the object is not available, information related to the floor surface of the object can be obtained based only on the front information of the object.

[0413] For example, based on the fact that the front information of the object includes information related to one vertex of the floor surface and information related to two vectors related to the one vertex, and based on the fact that the back information of the object includes information related to one vertex and another vertex of the object, information related to the floor surface of the object can be obtained based on the front information of the object and the back information of the object.

[0414] For example, based on the fact that the front information of the object includes information related to one vertex of the floor surface and information related to two vectors related to the one vertex, and based on the fact that the back information of the object includes information related to one vertex and a vertex of another object and information related to two vectors related to the other vertex, information related to the floor surface of the object can be obtained based on the front information of the object and the back information of the object.

[0415] For example, based on the front information of the object including information related to one vertex of the floor surface, based on the back information of the object including information related to one vertex and another vertex of the object, information related to the floor surface of the object can be obtained based on the front information of the object including a movement direction of the one vertex and a vertical direction of the movement direction of the one vertex, and the back information of the object including a movement direction of the other vertex and a vertical direction of the movement direction of the other vertex.

[0416] For example, based on the front information of the object including information related to one vertex of the floor surface, and based on the back information of the object including information related to one vertex and another vertex, information related to the floor surface of the object can be obtained based on the front information of the object, the back information of the object, and information related to the object from a third device.

[0417] For example, based on the front information of the object including information related to one vertex of the floor surface, and based on the back information of the object including information related to one vertex and another vertex, information related to the floor surface of the object can be obtained based on the front information of the object, the back information of the object, information related to the object from the third device, and information related to the object from the fourth device.

[0418] For example, the front information of the object can be obtained based on homography.

[0419] For example, the first device may be a first unmanned aerial vehicle. For example, the second device may be a second unmanned aerial vehicle.

[0420] For example, the first device may be a user equipment (UE) including a first lidar. For example, the second device may be a UE including a second lidar.

[0421] For example, the first device may be an RSU-based camera device. For example, the first device may be a V2X UE. For example, the first device may be an AR UE. For example, the first device may be a UAV. For example, the first device may be a UE including a lidar. For example, the first device may be a base station. For example, the first device may be an Internet of Things (IoT) device.

[0422] For example, the second device may be an RSU-based camera device. For example, the second device may be a V2X UE. For example, the second device may be an AR UE. For example, the second device may be a UAV. For example, the second device may be a UE including a lidar. For example, the second device may be a base station. For example, the second device may be an IoT device.

[0423] For example, the third device may be a satellite.

[0424] For example, the satellite may be a transparent satellite.

[0425] For example, the satellite may be a regenerative satellite.

[0426] For example, the third device may be an RSU-based camera device. For example, the third device may be a V2X UE. For example, the third device may be an AR UE. For example, the third device may be a UAV. For example, the third device may be a UE including a lidar. For example, the third device may be a base station. For example, the third device may be an edge computing server. For example, the third device may be a satellite. For example, the third device may be a transparent satellite. For example, the third device may be a regenerative satellite. For example, the third device may be an IoT device.

[0427] According to one embodiment of the present disclosure, a processing device configured to control a second device may be provided. For example, the processing device may include at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the second device to: obtain information about the back surface of an object; and transmit the information about the back surface of the object to a first device. For example, information related to a bottom surface of the object may be obtained based on at least one of the front surface information of the object or the back surface information of the object. For example, based on the front surface information of the object including information related to three vertices of the bottom surface, and based on the back surface information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front surface information of the object and the back surface information of the object.

[0428] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having instructions recorded thereon may be provided. For example, the instructions, when executed, may cause a second device to: transmit a signal for sensing. For example, a signal reflected from an object may be received. For example, sensing may be performed based on the reflected signal. For example, the instructions, when executed, may cause the second device to: obtain information about the back surface of the object; and transmit the information about the back surface of the object to a first device. For example, information related to a bottom surface of the object may be obtained based on at least one of the front surface information of the object or the back surface information of the object. For example, based on the front surface information of the object including information related to three vertices of the bottom surface, and based on the back surface information of the object including information related to vertices of the object that are different from the three vertices, information related to a bottom surface of the object may be obtained based on the front surface information of the object and the back surface information of the object.

[0429] According to the present disclosure, by combining segment information acquired by different devices (e.g., front CCTV and rear CCTV), a complete floor surface is reconstructed in one shot using three floor surface vertices acquired from the front image and the remaining vertex acquired from the rear image. Accordingly, the reference point and / or length and / or direction of an object can be immediately calculated without separate learning data or a complex 3D reconstruction process, thereby significantly reducing positional errors and minimizing computational delays. In addition, even if the resolution and / or accuracy of each sensor is different, only common vertices and line segments need to be transmitted and received, thereby reducing the communication load and improving the quality of V2X-based services such as reliable collision warning and / or route guidance even in natural driving environments such as RSU sections.

[0430] Furthermore, according to the present disclosure, by using three vertices obtained from the front segment and two line segments and / or vectors associated therewith, a virtual line segment is generated to maintain parallel and / or orthogonal relationships, and the fourth vertex is immediately determined as an intersection point. Therefore, the floor surface can be completed with only a single sensor even without any rear information, and the center point, length, and moving direction of an object can be calculated in real time without additional learning or multi-camera synchronization. As a result, the hardware configuration is simplified, the communication load is reduced, and the response speed and reliability of V2X services such as vehicle and / or pedestrian collision warning are further improved.

[0431] The various embodiments of the present disclosure may be combined with each other, and some descriptions, functions, procedures, proposals, methods and / or operations of the various embodiments may be omitted.

[0432] The above proposed method can be applied to the device described below. First, the processor (202) of the receiving terminal can set at least one partial bandwidth (e.g., BWP; bandwidth part). Then, the processor (202) of the receiving terminal can control the transceiver (206) of the receiving terminal to receive a physical channel related to terminal-to-terminal communication (e.g., SL communication) and / or a reference signal related to terminal-to-terminal communication (e.g., SL communication) from the transmitting terminal on at least one partial bandwidth (e.g., BWP).

[0433] Below, a description is given of devices to which various embodiments of the present disclosure can be applied.

[0434] Although not limited thereto, the various descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in this document may be applied to various fields requiring wireless communication / connectivity (e.g., 5G) between devices.

[0435] Hereinafter, more specific examples will be provided with reference to the drawings. In the drawings / descriptions below, the same drawing reference numerals may represent identical or corresponding hardware blocks, software blocks, or functional blocks, unless otherwise described.

[0436] Fig. 22 illustrates a communication system (1) according to one embodiment of the present disclosure. The embodiment of Fig. 22 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0437] Referring to FIG. 22, a communication system (1) to which various embodiments of the present disclosure are applied includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using a wireless access technology (e.g., 5G NR (New RAT), LTE (Long Term Evolution)) and may be referred to as a communication / wireless / 5G device. Although not limited thereto, the wireless device may include a robot (100a), a vehicle (100b-1, 100b-2), an XR (eXtended Reality) device (100c), a hand-held device (100d), a home appliance (100e), an IoT (Internet of Things) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with a wireless communication function, an autonomous vehicle, a vehicle capable of performing vehicle-to-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone) and / or an Aerial Vehicle (AV) (e.g., an Advanced Air Mobility (AAM)). The XR device may include an Augmented Reality (AR) / Virtual Reality (VR) / Mixed Reality (MR) device, and may be implemented in the form of a Head-Mounted Device (HMD), a Head-Up Display (HUD) equipped in a vehicle, a television, a smartphone, a computer, a wearable device, a home appliance, a digital signage, a vehicle, a robot, etc. The portable device may include a smartphone, a smart pad, a wearable device (e.g., a smart watch, smart glasses), a computer (e.g., a laptop, etc.), etc. The home appliance may include a TV, a refrigerator, a washing machine, etc. The IoT device may include a sensor, a smart meter, etc. For example, a base station and a network may also be implemented as a wireless device, and a specific wireless device (200a) may operate as a base station / network node to other wireless devices.

[0438] Here, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification may include not only LTE, NR, and 6G, but also Narrowband Internet of Things for low-power communication. At this time, for example, NB-IoT technology may be an example of LPWAN (Low Power Wide Area Network) technology, and may be implemented with standards such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification may perform communication based on LTE-M technology. At this time, for example, LTE-M technology may be an example of LPWAN technology, and may be called by various names such as eMTC (enhanced Machine Type Communication). For example, LTE-M technology can be implemented by at least one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-BL (non-Bandwidth Limited), 5) LTE-MTC, 6) LTE Machine Type Communication, and / or 7) LTE M, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification can include at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) considering low-power communication, and is not limited to the above-described names. For example, ZigBee technology can create personal area networks (PAN) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and can be called by various names.

[0439] Wireless devices (100a to 100f) can be connected to a network (300) via a base station (200). Artificial Intelligence (AI) technology can be applied to the wireless devices (100a to 100f), and the wireless devices (100a to 100f) can be connected to an AI server (400) via the network (300). The network (300) can be configured using a 3G network, a 4G (e.g., LTE) network, a 5G (e.g., NR) network, etc. The wireless devices (100a to 100f) can communicate with each other via the base station (200) / network (300), but can also communicate directly (e.g., sidelink communication) without going through the base station / network. For example, vehicles (100b-1, 100b-2) can communicate directly (e.g., V2V (Vehicle to Vehicle) / V2X (Vehicle to Everything) communication). In addition, IoT devices (e.g., sensors) can communicate directly with other IoT devices (e.g., sensors) or other wireless devices (100a to 100f).

[0440] Wireless communication / connection (150a, 150b, 150c) can be established between wireless devices (100a~100f) / base stations (200), and base stations (200) / base stations (200). Here, wireless communication / connection can be achieved through various wireless access technologies (e.g., 5G NR) such as uplink / downlink communication (150a), sidelink communication (150b) (or, D2D communication), and communication between base stations (150c) (e.g., relay, IAB (Integrated Access Backhaul). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, at least some of various configuration information setting processes for transmitting / receiving wireless signals, various signal processing processes (e.g., channel encoding / decoding, modulation / demodulation, resource mapping / demapping, etc.), and resource allocation processes can be performed based on various proposals of the present disclosure.

[0441] FIG. 23 illustrates a wireless device according to an embodiment of the present disclosure. The embodiment of FIG. 23 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0442] Referring to FIG. 23, the first wireless device (100) and the second wireless device (200) can transmit and receive wireless signals via various wireless access technologies (e.g., LTE, NR). Here, {the first wireless device (100), the second wireless device (200)} can correspond to {the wireless device (100x), the base station (200)} and / or {the wireless device (100x), the wireless device (100x)} of FIG. 22.

[0443] A first wireless device (100) includes one or more processors (102) and one or more memories (104), and may further include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memories (104) and / or the transceivers (106), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (102) may process information in the memory (104) to generate first information / signal, and then transmit a wireless signal including the first information / signal via the transceiver (106). Furthermore, the processor (102) may receive a wireless signal including second information / signal via the transceiver (106), and then store information obtained from signal processing of the second information / signal in the memory (104). The memory (104) may be connected to the processor (102) and may store various information related to the operation of the processor (102). For example, the memory (104) may perform some or all of the processes controlled by the processor (102), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chip designed to implement a wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals via one or more antennas (108). The transceiver (106) may include a transmitter and / or a receiver. The transceiver (106) may be used interchangeably with an RF (Radio Frequency) unit. In the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0444] A second wireless device (200) includes one or more processors (202), one or more memories (204), and may further include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memories (204) and / or the transceivers (206), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (202) may process information in the memory (204) to generate third information / signals, and then transmit a wireless signal including the third information / signals via the transceivers (206). In addition, the processor (202) may receive a wireless signal including fourth information / signals via the transceivers (206), and then store information obtained from signal processing of the fourth information / signals in the memory (204). The memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, the memory (204) may perform some or all of the processes controlled by the processor (202), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (202) and the memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals via one or more antennas (208). The transceiver (206) may include a transmitter and / or a receiver. The transceiver (206) may be used interchangeably with an RF unit. In the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0445] Hereinafter, the hardware elements of the wireless device (100, 200) will be described in more detail. Although not limited thereto, one or more protocol layers may be implemented by one or more processors (102, 202). For example, one or more processors (102, 202) may implement one or more layers (e.g., functional layers such as PHY, MAC, RLC, PDCP, RRC, SDAP). One or more processors (102, 202) may generate one or more Protocol Data Units (PDUs) and / or one or more Service Data Units (SDUs) according to the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. One or more processors (102, 202) may generate messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. One or more processors (102, 202) can generate signals (e.g., baseband signals) including PDUs, SDUs, messages, control information, data or information according to the functions, procedures, proposals and / or methods disclosed herein, and provide the signals to one or more transceivers (106, 206). One or more processors (102, 202) can receive signals (e.g., baseband signals) from one or more transceivers (106, 206) and obtain PDUs, SDUs, messages, control information, data or information according to the descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed herein.

[0446] One or more processors (102, 202) may be referred to as a controller, a microcontroller, a microprocessor, or a microcomputer. One or more processors (102, 202) may be implemented by hardware, firmware, software, or a combination thereof. For example, one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), one or more Digital Signal Processing Devices (DSPDs), one or more Programmable Logic Devices (PLDs), or one or more Field Programmable Gate Arrays (FPGAs) may be included in one or more processors (102, 202). The descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document may be implemented using firmware or software, and the firmware or software may be implemented to include modules, procedures, functions, etc. The descriptions, functions, procedures, suggestions, methods and / or operation flowcharts disclosed in this document may be implemented using firmware or software configured to perform one or more processors (102, 202) or stored in one or more memories (104, 204) and executed by one or more processors (102, 202). The descriptions, functions, procedures, suggestions, methods and / or operation flowcharts disclosed in this document may be implemented using firmware or software in the form of codes, instructions and / or sets of instructions.

[0447] One or more memories (104, 204) may be coupled to one or more processors (102, 202) and may store various forms of data, signals, messages, information, programs, codes, instructions, and / or commands. The one or more memories (104, 204) may be configured as ROM, RAM, EPROM, flash memory, hard drives, registers, cache memory, computer-readable storage media, and / or combinations thereof. The one or more memories (104, 204) may be located internally and / or externally to the one or more processors (102, 202). Additionally, the one or more memories (104, 204) may be coupled to the one or more processors (102, 202) via various technologies, such as wired or wireless connections.

[0448] One or more transceivers (106, 206) can transmit user data, control information, wireless signals / channels, etc., as mentioned in the methods and / or flowcharts of this document, to one or more other devices. One or more transceivers (106, 206) can receive user data, control information, wireless signals / channels, etc., as mentioned in the descriptions, functions, procedures, proposals, methods and / or flowcharts of this document, from one or more other devices. For example, one or more transceivers (106, 206) can be connected to one or more processors (102, 202) and can transmit and receive wireless signals. For example, one or more processors (102, 202) can control one or more transceivers (106, 206) to transmit user data, control information, or wireless signals to one or more other devices. Additionally, one or more processors (102, 202) may control one or more transceivers (106, 206) to receive user data, control information, or wireless signals from one or more other devices. Additionally, one or more transceivers (106, 206) may be coupled to one or more antennas (108, 208), and one or more transceivers (106, 206) may be configured to transmit and receive user data, control information, wireless signals / channels, or the like, as referred to in the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed herein, via one or more antennas (108, 208). In this document, one or more antennas may be multiple physical antennas or multiple logical antennas (e.g., antenna ports). One or more transceivers (106, 206) can convert received user data, control information, wireless signals / channels, etc. from RF band signals to baseband signals in order to process the received user data, control information, wireless signals / channels, etc. using one or more processors (102, 202).One or more transceivers (106, 206) may convert user data, control information, wireless signals / channels, etc. processed by one or more processors (102, 202) from baseband signals to RF band signals. For this purpose, one or more transceivers (106, 206) may include an (analog) oscillator and / or filter.

[0449] FIG. 24 illustrates a signal processing circuit for a transmission signal according to an embodiment of the present disclosure. The embodiment of FIG. 24 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0450] Referring to FIG. 24, the signal processing circuit (1000) may include a scrambler (1010), a modulator (1020), a layer mapper (1030), a precoder (1040), a resource mapper (1050), and a signal generator (1060). Although not limited thereto, the operations / functions of FIG. 24 may be performed in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 23. The hardware elements of FIG. 24 may be implemented in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 23. For example, blocks 1010 to 1060 may be implemented in the processor (102, 202) of FIG. 23. Additionally, blocks 1010 to 1050 may be implemented in the processor (102, 202) of FIG. 23, and block 1060 may be implemented in the transceiver (106, 206) of FIG. 23.

[0451] The codeword can be converted into a wireless signal through the signal processing circuit (1000) of FIG. 24. Here, the codeword is an encoded bit sequence of an information block. The information block may include a transport block (e.g., an UL-SCH transport block, a DL-SCH transport block). The wireless signal may be transmitted through various physical channels (e.g., a PUSCH or a PDSCH).

[0452] Specifically, the codeword can be converted into a bit sequence scrambled by a scrambler (1010). The scramble sequence used for scrambling is generated based on an initialization value, and the initialization value may include ID information of the wireless device, etc. The scrambled bit sequence can be modulated into a modulation symbol sequence by a modulator (1020). The modulation method may include pi / 2-BPSK (pi / 2-Binary Phase Shift Keying), m-PSK (m-Phase Shift Keying), m-QAM (m-Quadrature Amplitude Modulation), etc. The complex modulation symbol sequence can be mapped to one or more transmission layers by a layer mapper (1030). The modulation symbols of each transmission layer can be mapped to the corresponding antenna port(s) by a precoder (1040) (precoding). The output z of the precoder (1040) can be obtained by multiplying the output y of the layer mapper (1030) by a precoding matrix W of N*M. Here, N is the number of antenna ports, and M is the number of transmission layers. Here, the precoder (1040) can perform precoding after performing transform precoding (e.g., DFT transform) on complex modulation symbols. In addition, the precoder (1040) can perform precoding without performing transform precoding.

[0453] The resource mapper (1050) can map modulation symbols of each antenna port to time-frequency resources. The time-frequency resources can include multiple symbols (e.g., CP-OFDMA symbols, DFT-s-OFDMA symbols) in the time domain and multiple subcarriers in the frequency domain. The signal generator (1060) generates a wireless signal from the mapped modulation symbols, and the generated wireless signal can be transmitted to another device through each antenna. To this end, the signal generator (1060) can include an Inverse Fast Fourier Transform (IFFT) module, a Cyclic Prefix (CP) inserter, a Digital-to-Analog Converter (DAC), a frequency uplink converter, etc.

[0454] The signal processing process for receiving signals in a wireless device can be configured in reverse order of the signal processing process (1010 to 1060) of FIG. 24. For example, a wireless device (e.g., 100, 200 of FIG. 23) can receive wireless signals from the outside through an antenna port / transceiver. The received wireless signals can be converted into baseband signals through a signal restorer. For this purpose, the signal restorer can include a frequency downlink converter, an analog-to-digital converter (ADC), a CP remover, and a fast Fourier transform (FFT) module. Thereafter, the baseband signal can be restored to a codeword through a resource demapper process, a postcoding process, a demodulation process, and a descrambling process. The codewords can be restored to the original information blocks through decoding. Accordingly, a signal processing circuit (not shown) for a received signal may include a signal restorer, a resource de-mapper, a postcoder, a demodulator, a de-scrambler, and a decoder.

[0455] Figure 25 illustrates a wireless device according to an embodiment of the present disclosure. The wireless device may be implemented in various forms depending on the use case / service (see Figure 22). The embodiment of Figure 25 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0456] Referring to FIG. 25, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 23 and may be composed of various elements, components, units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and an additional element (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 23. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 23. The control unit (120) is electrically connected to the communication unit (110), the memory unit (130), and the additional elements (140) and controls the overall operation of the wireless device. For example, the control unit (120) may control the electrical / mechanical operation of the wireless device based on the program / code / command / information stored in the memory unit (130). In addition, the control unit (120) may transmit information stored in the memory unit (130) to an external device (e.g., another communication device) via a wireless / wired interface through the communication unit (110), or store information received from an external device (e.g., another communication device) via a wireless / wired interface in the memory unit (130).

[0457] The additional element (140) may be configured in various ways depending on the type of the wireless device. For example, the additional element (140) may include at least one of a power unit / battery, an input / output (I / O) unit, a driving unit, and a computing unit. Although not limited thereto, the wireless device may be implemented in the form of a robot (Fig. 22, 100a), a vehicle (Fig. 22, 100b-1, 100b-2), an XR device (Fig. 22, 100c), a portable device (Fig. 22, 100d), a home appliance (Fig. 22, 100e), an IoT device (Fig. 22, 100f), a digital broadcasting terminal, a hologram device, a public safety device, an MTC device, a medical device, a fintech device (or a financial device), a security device, a climate / environmental device, an AI server / device (Fig. 22, 400), a base station (Fig. 22, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0458] In FIG. 25, various elements, components, units / parts, and / or modules within the wireless device (100, 200) may be interconnected entirely via a wired interface, or at least some may be wirelessly connected via a communication unit (110). For example, within the wireless device (100, 200), the control unit (120) and the communication unit (110) may be wired, and the control unit (120) and the first unit (e.g., 130, 140) may be wirelessly connected via the communication unit (110). In addition, each element, component, unit / part, and / or module within the wireless device (100, 200) may further include one or more elements. For example, the control unit (120) may be composed of one or more processor sets. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of a random access memory (RAM), a dynamic RAM (DRAM), a read only memory (ROM), a flash memory, a volatile memory, a non-volatile memory, and / or a combination thereof.

[0459] Below, the implementation example of Fig. 25 is described in more detail with reference to the drawings.

[0460] FIG. 26 illustrates a mobile device according to an embodiment of the present disclosure. The mobile device may include a smartphone, a smart pad, a wearable device (e.g., a smartwatch, smartglasses), or a portable computer (e.g., a laptop, etc.). The mobile device may be referred to as a Mobile Station (MS), a User Terminal (UT), a Mobile Subscriber Station (MSS), a Subscriber Station (SS), an Advanced Mobile Station (AMS), or a Wireless Terminal (WT). The embodiment of FIG. 26 may be combined with various embodiments of the present disclosure, and some descriptions, functions, procedures, proposals, methods, and / or operations of the embodiments may be omitted.

[0461] Referring to FIG. 26, the portable device (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a memory unit (130), a power supply unit (140a), an interface unit (140b), and an input / output unit (140c). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 to 130 / 140a to 140c correspond to blocks 110 to 130 / 140 of FIG. 25, respectively.

[0462] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with other wireless devices and base stations. The control unit (120) can control components of the mobile device (100) to perform various operations. The control unit (120) can include an AP (Application Processor). The memory unit (130) can store data / parameters / programs / codes / commands required for operating the mobile device (100). In addition, the memory unit (130) can store input / output data / information, etc. The power supply unit (140a) supplies power to the mobile device (100) and can include a wired / wireless charging circuit, a battery, etc. The interface unit (140b) can support connection between the mobile device (100) and other external devices. The interface unit (140b) can include various ports (e.g., audio input / output ports, video input / output ports) for connection with external devices. The input / output unit (140c) can input or output video information / signals, audio information / signals, data, and / or information input from a user. The input / output unit (140c) may include a camera, a microphone, a user input unit, a display unit (140d), a speaker, and / or a haptic module.

[0463] For example, in the case of data communication, the input / output unit (140c) obtains information / signals (e.g., touch, text, voice, image, video) input by the user, and the obtained information / signals can be stored in the memory unit (130). The communication unit (110) converts the information / signals stored in the memory into wireless signals, and can directly transmit the converted wireless signals to other wireless devices or to a base station. In addition, the communication unit (110) can receive wireless signals from other wireless devices or base stations, and then restore the received wireless signals to the original information / signals. The restored information / signals can be stored in the memory unit (130) and then output in various forms (e.g., text, voice, image, video, haptic) through the input / output unit (140c).

Claims

1. In the method, A step of obtaining front information of an object from a first device; A step of obtaining rear information of the object from a second device; and A step of obtaining information related to the bottom surface of the object based on at least one of the front information of the object or the back information of the object; including, A method in which information related to the bottom surface of the object is obtained based on the front information of the object and the back information of the object, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object other than the three vertices.

2. In paragraph 1, A method in which information related to the bottom surface of the object is obtained based only on the front surface information of the object, based on the front surface information of the object including information related to three vertices of the bottom surface and based on the back surface information of the object being unavailable.

3. In paragraph 2, A method in which information related to the bottom surface of the object is obtained based on the front information of the object and the back information of the object, based on the front information of the object including information related to one vertex of the bottom surface and information related to two vectors related to the one vertex, and based on the back information of the object including information related to one vertex and another vertex of the object.

4. In paragraph 3, A method in which information related to the bottom surface of the object is obtained based on the front information of the object and the back information of the object, based on the front information of the object including information related to one vertex of the bottom surface and information related to two vectors related to the one vertex, and based on the back information of the object including information related to one vertex and a vertex of another object and information related to two vectors related to the other vertex.

5. In paragraph 4, A method in which information related to the bottom surface of the object is obtained based on front information of the object including information related to one vertex of the bottom surface, back information of the object including information related to one vertex and another vertex of the object, and back information of the object including a movement direction of the one vertex and a vertical direction of the movement direction of the one vertex.

6. In paragraph 5, A method in which information related to the bottom surface of the object is obtained based on the front information of the object, the back information of the object, and information related to the object from a third device, based on the front information of the object including information related to one vertex of the bottom surface, and based on the back information of the object including information related to the one vertex and another vertex.

7. In paragraph 6, A method in which information related to the bottom surface of the object is obtained based on the front information of the object, the back information of the object, information related to the object from the third device, and information related to the object from the fourth device, based on the front information of the object including information related to one vertex of the bottom surface, and based on the back information of the object including information related to the one vertex and another vertex.

8. In paragraph 7, A method in which front information of the above object is obtained based on homography.

9. In paragraph 8, The above method is performed by the first device, The above first device is a first unmanned aerial vehicle. And The method wherein the second device is a second unmanned aerial vehicle.

10. In paragraph 8, The above method is performed by the first device, The first device is a UE (user equipment) including a first lidar. And A method wherein the second device is a UE including a second lidar.

11. In paragraph 8, The above method is performed by the third device, and The above third device is a satellite. Method.

12. In paragraph 11, The above satellite is a transparent satellite.

13. In paragraph 11, The above satellite is a regenerative satellite, method.

14. In the first device, At least one transmitter / receiver; at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said first device causes: Obtain front information of the object from the first device; Obtaining rear information of the object from a second device; and Obtain information related to the bottom surface of the object based on at least one of the front information of the object or the back information of the object, A first device, wherein information related to the bottom surface of the object is acquired based on the front information of the object and the back information of the object, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object other than the three vertices.

15. In a processing device set to control the first device, at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said first device causes: Obtain front information of the object from the first device; Obtaining rear information of the object from a second device; and Obtain information related to the bottom surface of the object based on at least one of the front information of the object or the back information of the object, A processing device in which information related to the bottom surface of the object is acquired based on the front information of the object and the back information of the object, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object other than the three vertices.

16. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the first device to: Obtain front information of the object from the first device; Obtaining rear information of the object from a second device; and Obtain information related to the bottom surface of the object based on at least one of the front information of the object or the back information of the object, A non-transitory computer-readable storage medium, wherein information related to the bottom surface of the object is obtained based on the front information of the object and the back information of the object, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object other than the three vertices.

17. In the method, A second device acquires rear information of an object; and The second device comprises a step of transmitting the rear information of the object to the first device; Information related to the bottom surface of the object is obtained based on at least one of the front information of the object or the back information of the object, and A method in which information related to the bottom surface of the object is obtained based on the front information of the object and the back information of the object, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object other than the three vertices.

18. In the second device, At least one transmitter / receiver; at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said second device causes: Obtain the back information of the object; and To transmit the rear information of the object to the first device, Information related to the bottom surface of the object is obtained based on at least one of the front information of the object or the back information of the object, and A second device, wherein information related to the bottom surface of the object is acquired based on the front information of the object and the back information of the object, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object other than the three vertices.

19. In a processing device set to control a second device, at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said second device causes: Obtain the back information of the object; and To transmit the rear information of the object to the first device, Information related to the bottom surface of the object is obtained based on at least one of the front information of the object or the back information of the object, and A processing device in which information related to the bottom surface of the object is acquired based on the front information of the object and the back information of the object, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object other than the three vertices.

20. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the second device to: Obtain the back information of the object; and To transmit the rear information of the object to the first device, Information related to the bottom surface of the object is obtained based on at least one of the front information of the object or the back information of the object, and A non-transitory computer-readable storage medium, wherein information related to the bottom surface of the object is obtained based on the front information of the object and the back information of the object, based on the front information of the object including information related to three vertices of the bottom surface, and based on the back information of the object including information related to vertices of the object other than the three vertices.

Images