Data processing method, and apparatus

Abstract

The present application provides a data processing method, and an apparatus. The method is applied to a first apparatus and comprises: on the basis of a first scanning mode in scanning mode set information, obtaining a first scanning bitstream corresponding to a grid map under the first scanning mode, wherein the grid map is used for recording an entity position in a sensing environment; compressing the first scanning bitstream on the basis of a compression configuration, so as to obtain a compressed bitstream; and outputting the compressed bitstream and indication information, the indication information indicating the first scanning mode and / or the compression configuration. By means of the described implementation, before the grid map is compressed, the grid map can be extracted on the basis of a specific scanning mode, so that the characteristics of the scanning mode of the grid map during subsequent compression are fully considered, thereby optimizing and improving the compression efficiency of the grid map and improving user experience.

Description

A data processing method and apparatus

[0001] This application claims priority to Chinese Patent Application No. 202411193055.9, filed on August 27, 2024, entitled "A Data Processing Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of wireless communication, and more particularly to a data processing method and apparatus. Background Technology

[0003] With the increasing diversity of wireless communication applications, future wireless communication processes will generate a significant amount of data for new scenarios, such as immersive cloud VR, haptic multi-sensory communication, smart healthcare, advanced autonomous driving, and high-precision positioning and tracking. These data have different transmission requirements depending on the specific scenario. They typically feature large data volumes, significant redundancy, and temporal / frequency / spatial correlations. Clearly, directly transmitting this type of data would pose a significant challenge to wireless transmission, especially in an era of scarce spectrum resources. Therefore, how to compress this data before transmission to alleviate the pressure of limited spectrum resources on the wireless side is a pressing issue that needs to be addressed. Summary of the Invention

[0004] This application provides a data processing method and apparatus for improving the compression efficiency of grid diagrams, thereby enhancing the user experience.

[0005] In a first aspect, this application provides a data processing method for a first device, comprising: obtaining a first scan bitstream corresponding to a grid map under the first scan map based on a first scan map in a set of scan map information, wherein the grid map is used to record the positions of entities in a sensing environment; compressing the first scan bitstream based on a compression configuration to obtain a compressed bitstream; and outputting the compressed bitstream and indication information, wherein the indication information indicates the first scan map and / or the compression configuration.

[0006] Through the above implementation, a first scanning method (e.g., the most suitable scanning method for the current compression) can be determined from the set of scanning methods. After compressing the scan bitstream obtained based on this scanning method, the resulting compressed bitstream has higher compression efficiency (e.g., lower compression overhead or shorter compressed bitstream length) and the mesh graph can be extracted. This allows the characteristics of the mesh graph scanning method to be fully considered during subsequent compression, thereby optimizing and improving the compression efficiency of the mesh graph and enhancing the user experience.

[0007] In one possible implementation, the set of scanning methods includes M scanning methods, wherein the first scanning method is one of the M scanning methods, and M is a positive integer.

[0008] In one possible implementation, the first scanning method is obtained based on the scanning method used when the current mesh graph was stored; or, the first scanning method is obtained based on historical information; or, the first scanning method is obtained based on traversal.

[0009] In one possible implementation, the mesh diagram is a 2D mesh diagram, and the scanning method set information includes any one or more of the following: horizontal scanning, vertical scanning, zigzag scanning; or,

[0010] The grid diagram is a 3D grid diagram, and the scanning methods in the scanning method set information include: scanning sequentially according to the scanning order defined by the X, Y, and Z axes.

[0011] In one possible implementation, the method further includes: obtaining a partitioning method, and partitioning the mesh graph according to the partitioning method to obtain multiple sub-mesh graphs.

[0012] In one possible implementation, there are multiple segmentation methods, and the segmentation method with the highest compression efficiency is selected for segmentation.

[0013] In one possible implementation, the method further includes: indicating the block partitioning method that yields the highest compression efficiency.

[0014] In one possible implementation, obtaining the first scan bitstream corresponding to the mesh map under the first scanning mode specifically includes: obtaining the first scan bitstream of the plurality of sub-mesh maps under the first scanning mode based on the first scanning mode in the scanning mode set information.

[0015] In one possible implementation, the method further includes: obtaining the set of scanning methods information.

[0016] In one possible implementation, compressing the first scan bitstream according to the compression configuration to obtain a compressed bitstream specifically includes: compressing the first scan bitstream based on the compression configuration indicated by the compression configuration information to obtain a compressed bitstream.

[0017] In one possible implementation, the compression configuration information indicates: S compression configurations; or, the correspondence between the M scanning methods and the S compression configurations, where S is a positive integer.

[0018] In one possible implementation, the compression configuration information indicates that the S compression configurations include any one or more of the following: differential coding configuration, run-length coding configuration, LZMA coding configuration, or entropy coding configuration.

[0019] In one possible implementation, compressing the first scan bitstream based on the compression configuration indicated by the compression configuration information to obtain a compressed bitstream specifically includes: compressing the first scan bitstream based on the first compression configuration indicated by the compression configuration information to obtain a first compressed bitstream; or, compressing the first scan bitstream sequentially based on the first compression configuration and the second compression configuration indicated by the compression configuration information to obtain a second compressed bitstream; wherein the first compression configuration and the second compression configuration are one of S compression configurations.

[0020] In one possible implementation, the method further includes: obtaining the compression configuration information.

[0021] The second aspect is the method corresponding to the first aspect, and the beneficial effects are described in the first aspect. This application provides a data processing method, which is applied to a second device and includes: acquiring a compressed bitstream and indication information; the indication information indicating a first scanning mode and / or compression configuration; decompressing the compressed bitstream based on the compression configuration to obtain a first scanning bitstream; acquiring the first scanning mode based on the indication information; and obtaining a grid map corresponding to the first scanning bitstream based on the first scanning mode; wherein the grid map is used to record the location of entities in the sensing environment.

[0022] In one possible implementation, the scanning method set information includes M scanning methods, wherein the first scanning method is one of the M scanning methods, and M is a positive integer.

[0023] In one possible implementation, the mesh diagram is a 2D mesh diagram, and the scanning method set information includes any one or more of the following: horizontal scanning, vertical scanning, zigzag scanning; or, the mesh diagram is a 3D mesh diagram, and the scanning method set information includes: scanning sequentially according to the scanning order defined by the X, Y, and Z axes.

[0024] In one possible implementation, obtaining the mesh map corresponding to the first scan bitstream based on the first scanning method specifically includes: obtaining the mesh map corresponding to the first scan bitstream based on the first scanning method and the block-based method.

[0025] In one possible implementation, the method further includes: obtaining the block division method.

[0026] In one possible implementation, there are multiple partitioning methods, and an indication is obtained of the partitioning method with the highest compression efficiency among the partitioning methods.

[0027] In one possible implementation, the method further includes: obtaining scanning mode set information.

[0028] In one possible implementation, the decompression of the compressed bitstream based on the compression configuration to obtain the first scan bitstream specifically includes:

[0029] The compressed bitstream is decompressed based on the compression configuration indicated by the compression configuration information to obtain the first scan bitstream.

[0030] In one possible implementation, the compression configuration information indicates: S compression configurations; or, the correspondence between the M scanning methods and the S compression configurations, where S is a positive integer.

[0031] In one possible implementation, the compression configuration information indicates that the S compression configurations include any one or more of the following: differential coding configuration, run-length coding configuration, LZMA coding configuration, or entropy coding configuration.

[0032] In one possible implementation, the decompression of the compressed bitstream based on the compression configuration indicated by the compression configuration information to obtain the first scan bitstream specifically includes: decompressing the compressed bitstream based on the first compression configuration indicated by the compression configuration information to obtain the first scan bitstream; or, decompressing the compressed bitstream sequentially based on the second compression configuration indicated by the compression configuration information and the first compression configuration to obtain the first scan bitstream; wherein the first compression configuration and the second compression configuration are one of S compression configurations.

[0033] In one possible implementation, the method further includes: obtaining the compression configuration information.

[0034] Thirdly, this application provides a communication device, comprising: a processor for executing a computer program or instructions stored in a memory; the memory for storing the computer program or instructions; and when the computer program or instructions are run by the processor, the method described in the first or second aspect is implemented.

[0035] Fourthly, this application provides a computer-readable storage medium storing a computer program or instructions such that when a computer runs the computer program or instructions, the methods in the first or second aspect described above are implemented.

[0036] Fifthly, this application provides a computer program product comprising methods for performing the methods described in the first or second aspect above.

[0037] In a sixth aspect, this application provides a communication system, the system comprising a first device and a second device; the first device is used to implement the method in the first aspect described above; the second device is used to implement the method in the second aspect described above.

[0038] Based on the implementations provided in the above aspects, this application can be further combined to provide more implementations. Attached Figure Description

[0039] Figure 1 shows a schematic diagram of a possible communication system architecture provided in this application;

[0040] Figures 2A to 2C are schematic diagrams of possible implementation scenarios provided by this application;

[0041] Figure 3 shows a flowchart of a possible data processing method provided in this application;

[0042] Figure 4 shows a flowchart of a possible traversal method provided in this application;

[0043] Figures 5(a)-7 show schematic diagrams of possible mesh scanning methods provided in this application;

[0044] Figure 8 shows a schematic diagram of a possible grid diagram segmentation method provided in this application;

[0045] Figure 9 shows a schematic diagram of the structure of a possible scanning method set information provided in this application;

[0046] Figures 10A and 10B show possible mesh diagram compression flowcharts provided in this application;

[0047] Figure 11 shows a possible compressed configuration information structure diagram provided in this application;

[0048] Figure 12 shows a simulation diagram provided in this application;

[0049] Figure 13 shows a flowchart of another possible data processing method provided in this application;

[0050] Figure 14 shows a schematic diagram of a possible communication device structure provided in this application;

[0051] Figure 15 shows a schematic diagram of another possible communication device structure provided in this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, a further detailed description of this application will be provided below with reference to the accompanying drawings. The specific operating methods and functional descriptions in the method embodiments can also be applied to the device embodiments or system embodiments.

[0053] The embodiments of this application can be applied to various communication systems, such as: Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Universal Mobile Telecommunication System (UMTS), 5G systems, or New Radio (NR), or to future communication systems or other similar communication systems, or Ultra Wide Band (UWB) systems, or Wireless Fidelity (WiFi) systems.

[0054] Figure 1 illustrates a possible, non-limiting system diagram. As shown in Figure 1, the communication system 1000 includes a wireless access network 100 and a core network 200. Optionally, the communication system 1000 may also include an Internet 300. The wireless access network 100 may include at least one wireless access network device (110a and 110b in Figure 1) and at least one terminal (120a-120j in Figure 1). The terminal connects wirelessly to the wireless access network device, and the wireless access network device connects wirelessly or via a wired connection to the core network. The core network device and the wireless access network device can be independent physical devices, or the functions of the core network device and the logical functions of the wireless access network device can be integrated into the same physical device, or a single physical device can integrate some of the functions of the core network device and some of the functions of the wireless access network device. Terminals can be interconnected with each other, and wireless access network devices can be interconnected via wired or wireless connections. Figure 1 is only a schematic diagram; the communication system may also include other network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 1.

[0055] Radio access network equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. Radio access network equipment can also be an open RAN (O-RAN or ORAN) or a cloud radio access network (CRAN). Radio access network equipment can also be a communication system integrating two or more of the above systems. Radio access network equipment can be a macro base station (as shown in Figure 1, 110a), a micro base station or an indoor station (as shown in Figure 1, 110b), a relay node, or a donor node, etc.

[0056] Furthermore, the wireless access network equipment can also be a module or unit that performs some of the functions of a base station. For example, it can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0057] The embodiments of this application do not limit the specific technology or device form used in the wireless access network equipment. For ease of description, a base station is used as an example of a wireless access network equipment in the following description. It is understood that a base station can be referred to as a communication device. For example, a base station can be understood as a device with base station functions. For example, the device used to implement the functions of a base station can be a base station; or some components in a base station, such as CU, DU, etc. It can also be a device that can support the base station in implementing this function, such as a chip system, hardware circuit, software module, or hardware circuit plus software module, which can be installed in a base station or can be used in conjunction with a base station. In the embodiments of this application, the chip system can be composed of chips or can include chips and other discrete devices.

[0058] A terminal can also be called a terminal device, user equipment (UE), mobile station, mobile terminal, etc. Terminals can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminals can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, etc.

[0059] The embodiments of this application do not limit the specific technology or device form used in the terminal. It is understood that a terminal can be referred to as a communication device. For example, a terminal can be understood as a device with terminal functions. For example, the device used to implement the terminal functions can be a terminal itself; it can also be a device capable of supporting the terminal in implementing those functions, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. This device can be installed in the terminal or can be used in conjunction with the terminal.

[0060] Base stations and terminals can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can be deployed on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of the base stations and terminals.

[0061] The roles of base stations and terminals can be relative. For example, the helicopter or drone 120i in Figure 1 can be configured as a mobile base station. For terminals 120j that access the wireless access network 100 through 120i, drone 120i is a base station; however, for base station 110a, 120i is a terminal, meaning that 110a and 120i communicate via a wireless air interface protocol. Of course, 110a and 120i can also communicate via a base station-to-base station interface protocol. In this case, relative to 110a, 120i is also a base station. Therefore, both base stations and terminals can be collectively referred to as communication devices. 110a and 110b in Figure 1 can be called communication devices with base station functions, and 120a-120j in Figure 1 can be called communication devices with terminal functions.

[0062] Communication between base stations and terminals, between base stations, and between terminals can be conducted using licensed spectrum, unlicensed spectrum, or both simultaneously. Communication can be conducted using spectrum below 6 GHz, spectrum above 6 GHz, or both simultaneously. The embodiments of this application do not limit the spectrum resources used for wireless communication.

[0063] Unless otherwise specified in this document, the term "first device" or "second device" will be used to describe the implementing entity.

[0064] The term "first device" can be understood as a terminal, a device with terminal functions, or a device that implements terminal functions. For example, the first device is a terminal, or the first device can be a module (e.g., a chip or circuit) within a terminal. Alternatively, "first device" can be understood as a base station, a device with base station functions, or a device that implements base station functions. For example, the first device is a base station, or the first device can be a module (e.g., a chip or circuit) within a base station, or it can be a module or unit (e.g., CU, DU, or RU) that fully or partially implements base station functions, a logic module, or software. Alternatively, "first device" can be understood as a device or apparatus with sensing capabilities, or a device or apparatus capable of performing artificial intelligence tasks. A device with sensing capabilities can also be called a sensing device, and a device capable of performing artificial intelligence tasks can also be called an artificial intelligence task execution device.

[0065] "Second device" can be understood as a terminal, a device with terminal functions, or a device that implements terminal functions. For example, the second device is a terminal, or the second device can be a module (e.g., a chip or circuit) within a terminal. Alternatively, "second device" can be understood as a base station, a device with base station functions, or a device that implements base station functions. For example, the second device is a base station, or the second device can be a module (e.g., a chip or circuit) within a base station, or it can be a module or unit (e.g., CU, DU, or RU) that fully or partially implements base station functions, a logic module, or software. Alternatively, "second device" can be understood as a device or apparatus with sensing capabilities, or a device or apparatus capable of performing artificial intelligence tasks. A device with sensing capabilities can be called a sensing device, and a device capable of performing artificial intelligence tasks can be called an artificial intelligence task execution device.

[0066] Furthermore, the "first device" can be a transmitter or a receiver, and correspondingly, the "second device" can be a receiver or a transmitter. For ease of description, the following explanation will use the "first device" as the transmitter and the "second device" as the receiver as an example.

[0067] In addition, "first device" can be replaced with "first equipment" or "first communication device", and "second device" can be replaced with "second equipment" or "second communication device".

[0068] In some possible implementation scenarios, the "first device" can be a "terminal," and the "second device" can be a "base station." Alternatively, the "first device" can be a "base station," and the "second device" can be a "terminal." For example, in Figure 2A, one or more terminals can communicate with the base station separately. The interface between the terminal and the base station is a Uu interface.

[0069] In some possible implementation scenarios, the "first device" can be a "first terminal," and the "second device" can be a "second terminal." For example, in Figure 2B, terminal 1 can communicate with terminal 3, and terminal 2 can communicate with terminal 3. Terminal 3 and terminal 1 can communicate via a sidelink, and similarly, terminal 3 and terminal 2 can communicate via a sidelink. Furthermore, if terminal 3 receives data from terminal 1 and terminal 2, it can also transmit the received data from terminal 1 and terminal 2, along with its own data (i.e., terminal 3's data), to the base station. In this case, terminal 3 can also be understood as a relay terminal. The interface between terminal 3 and the base station is a Uu interface.

[0070] In some possible implementation scenarios, the "first device" can be a "first base station," and the "second device" can be a "second base station." For example, in Figure 2C, base station 1 and base station 2 can communicate. The interface between base station 1 and base station 2 can be an X2 interface.

[0071] In this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, and "send information" can include direct transmission or indirect transmission through other units or modules. "Receive information from YY" can be understood as the source of the information being YY, and "receive information" can include direct reception from YY or indirect reception from YY through other units or modules. Furthermore, "send" can also be understood as the "output" of a chip interface, and "receive" can be understood as the "input" of a chip interface. In other words, "send" or "receive" can occur between devices, such as a base station and a terminal transmitting or receiving data via an air interface. "Send" or "receive" can also occur within a device, such as transmitting or receiving data between components, modules, chips, software modules, or hardware modules within the device via a bus, wiring, or interface.

[0072] For ease of understanding, the technical terms appearing in this application are explained below. It should be understood that the following explanations or definitions of terms are only to help those skilled in the art better understand this solution, and do not limit this solution.

[0073] 1. Entropy coding method:

[0074] Entropy coding is a lossless data compression scheme that is independent of the specific characteristics of the medium. A major type of entropy coding involves creating and assigning a unique prefix code to each input symbol, and then compressing the data by replacing each fixed-length input symbol with a corresponding variable-length, prefix-free output codeword. Common entropy coding methods include Shannon coding and arithmetic coding.

[0075] 2. Huffman Coding:

[0076] Huffman coding, also known as Huffman encoding, is an encoding method and a type of program algorithm. It is widely used for data file compression, typically achieving compression ratios between 20% and 90%. Huffman coding is a type of variable-length coding (VLC).

[0077] 3. Run Length Encoding (RLE):

[0078] Run-length encoding (RLE), also known as variable-length encoding, is a statistical encoding method. Its main technique involves detecting repeating bit or character sequences and replacing them with their frequency of occurrence. To achieve better compression, RLE is sometimes used in combination with other encoding methods. The basic idea is to describe repeated, consecutively occurring characters using (number of consecutive occurrences, a specific character). For example, the string "AAAAABBBBCCC" can be described using RLE as "5A4B3C," where 5A represents 5 consecutive A's, 4B represents 4 consecutive B's, 3C represents 3 consecutive C's, and so on. The original string requires 12 characters to describe, while RLE compression requires only 6 characters. To restore the original string, simply repeat the characters n times.

[0079] 4. Lempel-Ziv-Markov Chain Algorithm (LZMA)

[0080] The Lempel-Ziv-Markov Chain Algorithm (LZMA) is an algorithm for performing lossless data compression. Developed by Igor Pavlov since 1996 or 1998, it was first used in the 7z format of the 7-Zip archiver. The algorithm uses a dictionary compression scheme similar to the LZ77 algorithm released by Abraham Lempel and Jacob Ziv in 1977, offering high compression ratios (typically higher than bzip2) and variable compression dictionary size (up to 4GB), while maintaining decompression speeds similar to other commonly used compression algorithms.

[0081] 5. Differential encoding:

[0082] Differential encoding is a data encoding technique primarily used for encoding and transmitting digital data streams. It encodes each element (except the first) in a digital data stream as the difference between that element and its preceding element. This encoding method is also known as incremental encoding or Manchester encoding. The main purpose of differential encoding is to reduce data duplication, especially when it is necessary to change the history of archives; it is sometimes also called differential compression. The differences are stored in discontinuous files called "delta" or "diff." Because the changes are usually small (averaging 2% of the total size), differential encoding can significantly reduce data duplication. A series of unique delta files is spatially more efficient than unencoded identical files.

[0083] 6. Bitmap:

[0084] A bitmap is a data structure used to represent a sequence of binary bits (0 or 1) within a specific range. In computer science, bitmaps are often used to efficiently represent large numbers of Boolean values, where each bit represents a Boolean value, indicating a state such as presence or absence, true or false.

[0085] Bitmaps have a variety of uses in computer science and data processing, including but not limited to the following:

[0086] (1) Data compression: BitMap can be used to compress and store large amounts of data, especially for sparse data or Boolean data, which can save storage space.

[0087] (2) Data index: In database systems, BitMap indexes can speed up data retrieval, especially for queries on columns with low cardinality (cardinality refers to the number of different values).

[0088] (3) Bitmap operations: BitMap supports efficient bit operations, such as setting bits, clearing bits, and searching bits, which are suitable for various algorithm designs and bit operation requirements.

[0089] (4) Deduplication and statistics: BitMap can be used for data deduplication and statistics. It records the occurrence of data through bitmap to achieve fast deduplication and statistics functions.

[0090] (5) Network Protocol: In network protocols, BitMap can be used to represent various states, flags or permissions, which facilitates the design and implementation of communication protocols.

[0091] 7. Grid Map:

[0092] A grid map is a concise way to represent an environment map. When using it, the actual physical environment needs to be gridded (either in 2D or 3D, corresponding to a 2D or 3D environment map; for example, a 10m*10m 2D physical environment, if gridded, will have 10*10=100 grids, resulting in a 10*10 two-dimensional matrix). The value of each grid cell corresponds to the entity information presented within that cell, and this value can have various representations, such as:

[0093] The 1.0 / 1 format: 0 indicates that there are no entities in the grid, and 1 indicates that there are entities in the grid. In this case, the grid diagram is recorded as a bitmap.

[0094] 2. Positive integers or real numbers between 0 and 1: 0 indicates that there are no entities in the grid, and integers or real numbers greater than 0 indicate that there are entities in the grid. The larger the value, the higher the probability of the corresponding entity existing, or the higher the degree of obstruction of the wireless signal by the entity.

[0095] It is understood that the representation of the grid values ​​in the above grid diagram is merely an illustrative example and does not constitute a unique limitation on this application.

[0096] For mesh diagrams, existing technologies typically employ the following compressed design:

[0097] 1. Entropy coding: Compressing the 0 and 1 bit sequences of a grid diagram according to their distribution characteristics (such as the ratio of 0 to 1).

[0098] 2. LZMA: Compresses the 0 and 1 bit sequences in a lattice graph using a dictionary encoding mechanism;

[0099] 3. Quadtree: Recursively divides the 2D bitmap, splitting it into 4 regions in each round. If all data in a region contains the same value (such as 0 or 1), then that region is not further divided; otherwise, it is divided into four regions, and so on recursively, until each region contains only the same value.

[0100] The aforementioned compression design only considers the distribution characteristics of bitmap 0 and 1 data in the mesh graph itself, without fully utilizing the features of the implicit scanning pattern of the mesh graph, resulting in low compression efficiency. Therefore, this invention proposes a mesh graph compression method based on a dynamic scanning pattern, thereby fully utilizing the features of the mesh graph's scanning pattern and improving the compression efficiency of the mesh graph compared to existing technologies.

[0101] In view of this, this application provides a data processing method and apparatus to fully utilize the characteristics of the scanning method of grid diagrams and improve the compression efficiency of grid diagram data.

[0102] In a first aspect, this application provides a data processing method, which is used in a first apparatus, as shown in FIG3, including:

[0103] S301: Based on the first scanning method in the scanning method set information, obtain the first scanning code stream corresponding to the grid map under the first scanning method, wherein the grid map is used to record the location of entities in the perceived environment;

[0104] For example, the set of scanning methods includes M scanning methods, where the first scanning method is one of the M scanning methods, and M is a positive integer.

[0105] Understandably, when M=1, the scan method set information includes only one scan method, which is the first scan method. When M is greater than 1 (e.g., M=2, 3, 4, etc.), the scan method set information includes multiple scan methods, so the first scan method is one of them. For example, the first scan method may be the most suitable scan method for current compression among multiple scan methods. After compressing the scan bitstream obtained based on this scan method, the resulting compressed bitstream has higher compression efficiency (e.g., lower compression overhead or shorter compressed bitstream length).

[0106] In one possible implementation, the first scanning method is obtained based on the scanning method used when the current mesh graph was stored; or, the first scanning method is obtained based on historical information; or, the first scanning method is obtained based on traversal.

[0107] For example:

[0108] Example 1: The scanning method used when storing the current grid diagram can be used as the first scanning method. For example, if the grid diagram is stored as a bit stream after being scanned horizontally, then when extracting the grid diagram, the horizontal scanning method can be selected to obtain the scan bit stream (that is, the scanning method is consistent with that used when storing the grid diagram). In this way, when compressing the scan bit stream, the data in the cache / storage can be read more efficiently, thereby saving storage I / O overhead.

[0109] Example 2: Based on historical information, the first scanning method can be determined from multiple scanning methods. For example, if the first scanning method determined in the current environment based on historical information is longitudinal scanning (e.g., historical information records that the scan bitstream obtained when longitudinal scanning was selected in the current environment has the shortest bitstream length in subsequent compression), then when extracting the mesh map in this environment, the longitudinal scanning method can be selected to obtain the scan bitstream, thereby ensuring that the compressed bitstream obtained in subsequent compression has the shortest bitstream length. It is understood that this application does not limit the acquisition of historical information.

[0110] The above implementation eliminates the need for the device to try all scanning methods sequentially when determining the first scanning method, thus reducing the overhead of obtaining the first scan bitstream.

[0111] Example 3: The first scanning method can be determined by traversing all scanning methods and recorded in the historical information. For example, as shown in Figure 4, the mesh diagram is input into the first device. Based on the M scanning methods (e.g., scanning method 1 (Pattern 1), scanning method 2 (Pattern 2)...scanning method M (Pattern M)) in the scanning method set information, the first device extracts the input mesh diagram to obtain M scanning bitstreams (e.g., scanning bitstream 1, scanning bitstream 2...scanning bitstream M) corresponding to the M scanning methods. Subsequently, the M scanning bitstreams are compressed according to the first compression configuration in the compression configuration information to obtain M first compressed bitstreams (e.g., first compressed bitstream 1, first compressed bitstream 2...first compressed bitstream M). Based on the judgment conditions under the first compression configuration, the best first compressed bitstream is selected from the M first compressed bitstreams. The scanning bitstream corresponding to the best first compressed bitstream is the first scanning bitstream, and the scanning method corresponding to the first scanning bitstream is the first scanning method. It is understood that the first compression configuration includes, but is not limited to, differential coding configuration, run-length encoding configuration, LZMA encoding configuration, or entropy coding configuration. For example, the judgment conditions under the first compression configuration include: when the first compression configuration is run-length encoding, the compressed bitstream with the shortest bitstream length among the M first compressed bitstreams is the optimal first compressed bitstream; when the first compression configuration is LZMA encoding, the compressed bitstream with the shortest bitstream length among the M first compressed bitstreams is the optimal first compressed bitstream; when the first compression configuration is differential coding, the proportion of 0 in the differential results of the M first compressed bitstreams is calculated, and the compressed bitstream with the highest proportion of 0 among the M first compressed bitstreams is the optimal first compressed bitstream. Simultaneously, the first scanning method determined through traversal can be recorded in historical information, allowing subsequent operations to directly determine the first scanning method based on historical information. For example, the traversal result (first scanning method) in the current environment can be recorded in historical information, enabling subsequent scanning of the mesh graph to obtain the first scanning method in the current environment based on historical information. It is understandable that M is a positive integer, and its value can be 1, 2, 3, 4, etc.

[0112] It is understood that scanning methods can include 2D scanning methods such as horizontal scanning, vertical scanning, and zigzag scanning, and / or 3D scanning methods that scan sequentially according to the scanning order defined by the X, Y, and Z axes.

[0113] In one possible implementation, the method may also include obtaining information about the set of scanning methods.

[0114] For example, the scanning method set information is determined by communication between the first device and the second device, or by an agreement, or by other devices. For instance, the scanning method set information may be determined interactively by the first device and the second device, or determined by the first device and then notified to the second device, or determined by the second device and then notified to the first device; alternatively, the scanning method set information may be agreed upon by an agreement, thus allowing the first device and the second device to determine the scanning method set information based on that agreement; or, the scanning method set information may be determined by other devices besides the first and second devices (e.g., a third device), and then notified to the first device and / or the second device by that device. For example, the other device may send the determined scanning method set information to both the first device and the second device, or the other device may send the determined scanning method set information to the first device, which then sends it to the second device.

[0115] In one possible implementation, the mesh diagram is a 2D mesh diagram, and the scanning method set information includes any one or more of the following: horizontal scanning, vertical scanning, zigzag scanning; or, the mesh diagram is a 3D mesh diagram, and the scanning method set information includes: scanning sequentially according to the scanning order defined by the X, Y, and Z axes.

[0116] For example, when the scanning method set information is agreed upon by the protocol, the protocol may include scanning methods for 2D and / or 3D mesh images; when the protocol only includes scanning methods for 2D or 3D mesh images, the first device and the second device may perform scanning or restoration based on the scanning method; when the protocol includes scanning methods for both 2D and 3D mesh images, the first device and the second device may select the corresponding scanning method in the protocol based on the mesh image format (e.g., 2D or 3D) to perform scanning or restoration.

[0117] For example, when the scanning mode set information is not agreed upon by the protocol (e.g., determined by communication between the first and second devices), the corresponding device (e.g., the first device, the second device, or other devices) can determine the specific scanning mode set information based on the grid pattern format (e.g., 2D or 3D) and inform the other device (e.g., the first device and / or the second device). For example, when the grid pattern is determined to be a 2D grid pattern, the scanning mode set information that only includes the 2D grid pattern is determined, such as horizontal scanning, vertical scanning, zigzag scanning, etc., and this is informed to the other device (e.g., the first device and / or the second device); when the grid pattern is determined to be a 3D grid pattern, the scanning mode set information that only includes the 3D grid pattern is determined, such as scanning methods that scan sequentially according to the scanning order defined by the X, Y, and Z axes, and this is informed to the other device (e.g., the first device and / or the second device). Through the above implementation, compared to including scanning methods for various grid pattern formats in the scanning mode set signal, the redundancy of the scanning mode set information can be reduced, saving system space. It is understood that the scanning method set information can be determined by the first device or the second device (e.g., determined by the first device or the second device alone, or determined by the interaction between the first device and the second device), or it can be determined by other devices and sent to the first device and / or the second device.

[0118] It is understood that this application does not limit how the mesh diagram format (e.g., 2D or 3D) is obtained. For example, the corresponding device (e.g., the first device or the second device, or other devices) can determine and obtain the mesh diagram format based on the current physical environment. For example, when it is identified that there is a lot of 2D planar information in the current environment (e.g., a large amount of information involving the X and Y axes, and a small amount or no information involving the Z axis), the mesh diagram format is determined to be 2D (i.e., the mesh diagram is a 2D mesh diagram). When it is identified that there is a lot of 3D information in the current environment (e.g., information involving the X, Y, and Z axes), the mesh diagram format is determined to be 3D (i.e., the mesh diagram is a 3D mesh diagram).

[0119] For example, Figures 5(a)-5(b) show the lateral scanning method in a 2D mesh diagram:

[0120] As shown in Figure 5(a), scanning can be performed from left to right, with the beginning and end connected; as shown in Figure 5(b), scanning can be performed from right to left, with the beginning and end connected.

[0121] For example, Figures 6(a)-6(b) show the vertical scanning method in a 2D mesh diagram:

[0122] As shown in Figure 6(a), scanning can be performed from top to bottom, with the beginning and end connected; as shown in Figure 6(b), scanning can be performed from bottom to top, with the beginning and end connected.

[0123] For example, Figure 7 shows a zigzag scanning method in a 2D mesh diagram:

[0124] As shown in Figure 7, scanning can be performed in a zigzag pattern.

[0125] For example, the scanning method for a 3D mesh map can be defined according to the X, Y, and Z axes. For example, the scanning order can be defined as {X,Y,Z}, {Y,Z,X}, {Z,X,Y}, {X,Z,Y}, etc.; where {X,Y,Z} means scanning the X, Y, and Z axes in sequence, {Y,Z,X} means scanning the Y, Z, and X axes in sequence, {Z,X,Y} means scanning the Z, X, and Y axes in sequence, and {X,Z,Y} means scanning the X, Z, and Y axes in sequence.

[0126] Specifically, taking {X,Y,Z} as an example: When the first device scans the grid diagram in the order of {X,Y,Z}, it can first scan the two dimensions of X and Y. For example, it can use the scanning method in the 2D grid diagram to scan the 2D plane formed by the X and Y axes, and then traverse the dimension Z in turn.

[0127] In one possible implementation, the method further includes: obtaining a partitioning method, and partitioning the mesh graph according to the partitioning method to obtain multiple sub-mesh graphs.

[0128] For example, there are multiple block partitioning methods, and the block partitioning method with the highest compression efficiency is selected for partitioning.

[0129] In one possible implementation, the method also includes indicating the block partitioning method that yields the highest compression efficiency.

[0130] For example, when multiple segmentation methods exist, the first device needs to determine one segmentation method (e.g., the segmentation method that maximizes subsequent compression efficiency) from among the multiple methods and indicate the determined segmentation method to the second device. When the segmentation method is agreed upon by the protocol, both the first and second devices are aware of the segmentation method used, so the first device does not need to provide further instructions.

[0131] For example, Figure 8 illustrates a segmentation scheme in a 2D mesh diagram, where a horizontal scanning method is used. As shown in Figure 8, before scanning the mesh diagram, it can be segmented into 4*4 blocks (i.e., 4 blocks per row and 4 blocks per column), thereby dividing the mesh diagram shown in Figure 8 into 6 sub-mesh diagrams (e.g., sub-mesh diagram A, sub-mesh diagram B... sub-mesh diagram F). Then, each sub-mesh diagram is scanned using a corresponding scanning method (e.g., the horizontal scanning method in Figure 5(a)).

[0132] It is understood that the above-described 4x4 grid division is an illustrative example provided for the convenience of those skilled in the art. In practice, the grid can be divided into blocks of any other size, such as 2x2, 6x4, 2x3, etc. Furthermore, the grid size (8x12) in Figure 8 is also an illustrative example; the actual grid size can be arbitrary, such as 10x10, 16x20, etc.

[0133] For example, as shown in Figure 8, the segmentation method adopted by the first device can be determined by the first device itself. For instance, the first device may have pre-configured information for multiple segmentation methods, and the first device needs to select the optimal segmentation method from these multiple methods to segment the mesh diagram. For example, if the first device has configuration information for four segmentation methods—2*2, 6*4, 2*3, and 4*4—then the first device needs to select the optimal one from these four methods to segment the mesh diagram.

[0134] Understandably, the optimal segmentation method is the one that maximizes subsequent compression efficiency (e.g., results in a shorter compressed bitstream). In one possible implementation, the first device can obtain the compression efficiency of the scan bitstream under the corresponding segmentation method based on historical compression records, and then select the segmentation method according to that compression efficiency (e.g., the segmentation method with the highest compression efficiency can be selected).

[0135] Understandably, when the first device determines the optimal segmentation method from multiple segmentation methods, it also needs to inform the second device of the segmentation method so that the second device can restore the acquired bitstream based on the segmentation method.

[0136] In one possible implementation, obtaining the first scan bitstream corresponding to the mesh map under the first scanning mode specifically includes: obtaining the first scan bitstream of multiple sub-mesh maps under the first scanning mode based on the first scanning mode in the scan mode set information.

[0137] For example, the scan method set information includes not only the scan method, but also the block segmentation method and the corresponding indication information; for example, the scan method set information may also include indication information indicating whether to segment (e.g., indicated by 0,1 bits, where 1 indicates segmentation and 0 indicates no segmentation), and the corresponding block segmentation method.

[0138] For example, this application provides a possible scanning method set information structure diagram, as shown in Figure 9. In Figure 9, the "blocking indication information" can be 0 or 1 bits, used to indicate whether the mesh map is to be blocked. In one possible implementation, when the corresponding device (e.g., the first device or the second device) recognizes that the "blocking indication information" indicates no blocking (e.g., the bit is 0), it directly skips the blocking method part and reads the scanning method. "Blocking method" indicates the available blocking methods, which include "blocking method 1"..."blocking method N", where N is greater than or equal to 1. When multiple blocking methods exist (i.e., N is greater than 1), the first device can decide which one to use. When there is only one blocking method (N = 1), the corresponding device can directly determine the blocking method to be used based on that blocking method. "Scanning method" indicates the scanning method that the first device can use when extracting the mesh map, where M is greater than or equal to 1.

[0139] S302: Compress the first scan bitstream based on the compression configuration to obtain a compressed bitstream;

[0140] For example, the method further includes: obtaining compression configuration information.

[0141] For example, the compression configuration information may be determined through communication between the first device and the second device, by a protocol, or by other devices. For instance, the compression configuration information may be determined interactively by the first device and the second device, or determined by the first device and then communicated to the second device, or determined by the second device and then communicated to the first device; alternatively, the compression configuration information may be agreed upon by a protocol, thus allowing the first and second devices to determine the compression configuration information based on that protocol; or, the compression configuration information may be determined by other devices besides the first and second devices (e.g., a third device), and then communicated by that device to the first device and / or the second device.

[0142] In one possible implementation, compressing the first scan bitstream according to the compression configuration to obtain a compressed bitstream specifically includes: compressing the first scan bitstream based on the compression configuration indicated by the compression configuration information to obtain a compressed bitstream.

[0143] In one possible implementation, compressing the first scan bitstream based on the compression configuration indicated by the compression configuration information to obtain a compressed bitstream specifically includes:

[0144] The first scan bitstream is compressed based on the first compression configuration indicated by the compression configuration information to obtain a first compressed bitstream; or...

[0145] The first scan bitstream is compressed sequentially based on the first compression configuration and the second compression configuration indicated by the compression configuration information to obtain the second compressed bitstream; wherein the first compression configuration and the second compression configuration are one of S compression configurations.

[0146] It is understood that, in this application, after compressing the first scan bitstream to obtain the first compressed bitstream, the first compressed bitstream can be compressed again (or post-processed) to further improve the compression efficiency.

[0147] For example, Figure 10A shows a possible mesh graph compression flowchart. As shown in Figure 10A, there is no post-processing in this process. After extracting the mesh graph based on the first scanning method, a first scan bitstream is obtained. Subsequently, the first scan bitstream is compressed based on the first compression configuration to obtain a first compressed bitstream.

[0148] For example, Figure 10B shows another possible mesh graph compression flowchart. As shown in Figure 10B, post-processing is involved in this process. After extracting the mesh graph based on a first scanning method, a first scan bitstream is obtained. Then, the first scan bitstream is compressed based on a first compression configuration to obtain a first compressed bitstream. Subsequently, the first compressed bitstream is compressed based on a second compression configuration to obtain a second compressed bitstream… Then, the (N-1)th compressed bitstream is compressed based on the Nth compression configuration to obtain the Nth compressed bitstream. Here, N is a positive integer greater than 1 (e.g., N = 2, 3, 4, 5, etc.).

[0149] For example, the compression configuration information indicates: S types of compression configurations; or, the correspondence between M scanning methods and S types of compression configurations, where S is a positive integer.

[0150] It is understandable that when S=1, the compression configuration information indicates only one compression configuration, and when S is greater than 1 (e.g., S=2,3,4), the compression configuration information indicates multiple compression configurations.

[0151] For example, when the compression configuration information indicates S compression configurations, the compression configuration information can include the number of compression operations S (e.g., the number of compression steps S) and the corresponding compression configuration indication information, such as an index. The first device executes the compression configuration corresponding to the index sequentially according to the index size, as shown in Figure 11. For example, when S=2, index 1 indicates a run-length encoding configuration, and index 2 indicates an LZMA encoding configuration. Then, the first device determines that the first compression configuration is a run-length encoding configuration and the second compression configuration is an LZMA encoding configuration. Based on the first compression configuration (run-length encoding configuration), the first scan bitstream is compressed to obtain a first compressed bitstream. Subsequently, based on the second compression configuration (LZMA encoding configuration), the first compressed bitstream is compressed again to obtain a second compressed bitstream. It is understood that S can be any value greater than or equal to 1. The above explanation uses S=2 as an example for the understanding of those skilled in the art. Obviously, when S=1, there is no post-processing, that is, only the first scan bitstream is compressed once. It is understood that the above-described compression configuration indicated by index is only an example and does not constitute a unique limitation of this application. The compression configuration can also be indicated explicitly, for example, by including the number of compression operations S and the corresponding compression configuration in the compression configuration information, so that the first scan bitstream can be compressed S times in order from left to right according to the compression configuration.

[0152] It is understandable that when the compression configuration information indicates S compression configurations, the indication information must indicate the first scanning method. For example, the second device obtains the compression configuration based on the compression configuration information and obtains the first scanning method based on the indication information (e.g., obtaining the first scanning method from the scanning method set information based on the indication information).

[0153] For example, when the compression configuration information indicates the correspondence between M scanning methods and S compression configurations, the compression configuration information may include the mapping relationship between scanning methods and compression configurations, for example, the correspondence between M scanning methods and S compression configurations. For example, Table 1 is a mapping table between scanning methods and compression configurations. As shown in Table 1:

[0154] Table 1

[0155] It is understood that the compression configuration corresponding to the scanning method can be the most suitable for that scanning method, meaning that the compressed bitstream obtained by compressing the scan bitstream based on that scanning method using the compression configuration corresponding to the scanning method has the highest compression efficiency. For example, when the scanning method is lateral scanning, if the first compression configuration is run-length encoding and the second compression configuration is LZMA encoding, the resulting compressed bitstream will have the highest compression efficiency. Similarly, when the scanning method is zigzag scanning, if the first compression configuration is differential encoding and the second compression configuration is Huffman encoding, the resulting compressed bitstream will have the highest compression efficiency. It is understood that this application does not limit how the most suitable compression configuration corresponding to the scanning method is determined; for example, it can be determined based on history or traversal.

[0156] It is understandable that when the compression configuration information indicates the correspondence between M scanning methods and S compression configurations, the compression configuration information does not explicitly specify the compression configuration used (unlike the case where the compression configuration information indicates S compression configurations, in which case the compression configuration used is explicitly specified). The first device can obtain the corresponding compression configuration used in the correspondence based on the first scanning method. For example,

[0157] When the first scanning method is horizontal scanning, the corresponding compression configuration is to first use run-length encoding to compress the first scan bitstream to obtain a first compressed bitstream, and then use LZMA encoding to compress the first compressed bitstream to obtain a second compressed bitstream.

[0158] When the first scanning method is vertical scanning, the corresponding compression configuration is to first use run-length encoding to compress the first scan bitstream to obtain a first compressed bitstream, and then use LZMA encoding to compress the first compressed bitstream to obtain a second compressed bitstream.

[0159] When the first scanning method is zigzag scanning, the corresponding compression configuration is to first use differential encoding to compress the first scan bitstream to obtain a first compressed bitstream, and then use Huffman encoding to compress the first compressed bitstream to obtain a second compressed bitstream.

[0160] It is understandable that when the compression configuration information indicates the correspondence between M scanning methods and S compression configurations (e.g., a mapping relationship), the indication information can indicate the first scanning method and / or the compression configuration. For example, if the indication information only indicates the first scanning method, the second device can obtain the first scanning method based on the indication information (e.g., obtain the first scanning method from the scanning method set information based on the indication information), and obtain the compression configuration from the correspondence based on the first scanning method; or, if the indication information only indicates the compression configuration, the second device can obtain the compression configuration based on the indication information, and obtain the first scanning method from the correspondence based on the compression configuration; or, if the indication information indicates both the first scanning method and the compression configuration, the second device can obtain the first scanning method based on the indication information (e.g., obtain the first scanning method from the scanning method set information based on the indication information) and the compression configuration.

[0161] It is understood that the above mapping relationship is only an illustrative example to facilitate understanding by those skilled in the art, and does not limit the possible mapping situations in this solution.

[0162] For example, the S compression configurations indicated by the compression configuration information include any one or more of the following: differential encoding configuration, run-length encoding configuration, LZMA encoding configuration, or entropy encoding configuration. Among them,

[0163] Differential coding configuration information includes: the order of difference (such as first-order difference, second-order difference, first-order difference is obtained by subtracting two adjacent data, second-order difference is obtained by subtracting two adjacent first-order differences, and so on to obtain higher-order differences), and the difference interval step size (when the step size is 1, adjacent data need to be differiated, when the step size is K (K>1), data with a sequence number interval of K need to be differiated).

[0164] The run-length encoding configuration information includes: the maximum number of runs (i.e., the maximum length of consecutive identical data that can be recorded. For example, if the maximum number of runs is 32, then if there are 40 consecutive zeros, they need to be split into two segments: the first segment with 32 zeros and the second segment with 8 zeros, i.e., recorded in the format of 32 zeros and 8 zeros).

[0165] LZMA encoding configuration information includes: maximum dictionary file size (limiting the length of dictionary information stored during LZMA encoding).

[0166] The entropy coding configuration information includes instructions on whether arithmetic coding or Huffman coding is used.

[0167] S303: Outputs compressed bitstream and indication information, the indication information indicating the first scan mode and / or compression configuration.

[0168] For example, a compressed bitstream and indication information are output to the second device.

[0169] It is understandable that when the indication information only indicates the first scanning mode, the first scanning mode can be indicated by, for example, a serial number or index. Accordingly, the second device can obtain the first scanning mode from the scanning mode set information based on the serial number or index.

[0170] When the indication information only indicates the compression configuration, if the current compression configuration information indicates the correspondence between M scanning methods and S compression configurations, the second device can obtain the first scanning method based on the indicated compression configuration in the correspondence.

[0171] Through the above implementation, compared with the prior art which only considers the compression method when compressing mesh diagrams, this application also fully considers the characteristics of the mesh diagram scanning method (pattern). Therefore, when compressing the mesh, it not only considers the compression method but also the scanning method, so as to further optimize and improve the compression efficiency of the mesh diagram and thus improve the transmission of the mesh diagram.

[0172] The data transmission method in this application has been described above from the perspective of the first device (i.e., the transmitting end). The corresponding method from the second device (i.e., the receiving end) will now be described. It is understood that the corresponding methods applicable to the transmitting end in this application are also applicable to the receiving end, or that only simple adjustments are needed by those skilled in the art to implement them on the receiving end; therefore, identical parts will not be repeated. It is understood that the first device can function as both a transmitting end and a receiving end, and correspondingly, the second device can function as both a receiving end and a transmitting end. For ease of understanding by those skilled in the art, this application selects the first device as the transmitting end and the second device as the receiving end for description.

[0173] Figure 12 shows a simulation diagram of the grid map in this application. The leftmost figure shows the simulation scenario of the perceived environment, the middle figure shows Gridmap data 1 (i.e., the data of grid map 1, corresponding to ideal environment information), and the rightmost figure shows Gridmap data 2 (i.e., the data of grid map 2, corresponding to non-ideal environment information, such as information obtained through sensing or wireless signal estimation). Table 2 shows the simulation results obtained based on the data processing method in this application. The dynamic optimization scanning is the scheme for selecting the first scanning method in this application, such as the scanning method used based on the current grid map storage, based on historical information, or based on traversal to obtain the first scanning method (e.g., horizontal scanning, vertical scanning, zigzag scanning). After compressing the scan bitstream obtained based on the first scanning method, the resulting compressed bitstream has higher compression efficiency (e.g., lower compression overhead, or shorter compressed bitstream length).

[0174] As shown in Table 2, for Gridmap data 1 (size 30KB):

[0175] When the compression configuration is LZMA (e.g., the first compression configuration is LZMA), the scan bitstream obtained by line scanning has a final compressed bitstream size of 5.48KB; while the scan bitstream obtained by dynamic optimization scanning (e.g., based on the first scanning method) has a final compressed bitstream size of 3.34KB, which saves 39.2% of the bitrate compared to the former.

[0176] When the compression configuration is RLE (run-length encoding) and LZMA (e.g., the first compression configuration is run-length encoding and the second compression configuration is LZMA), the scan bitstream obtained by line scanning has a final compressed bitstream size of 0.33KB; while the scan bitstream obtained by dynamic optimization scanning (e.g., based on the first scanning method) has a final compressed bitstream size of 0.31KB, which saves 5.5% of the bitrate compared to the former.

[0177] For Gridmap data 2 (30KB in size):

[0178] When the compression configuration is LZMA (e.g., the first compression configuration is LZMA), the scan bitstream obtained by line scanning has a final compressed bitstream size of 2.21KB; while the scan bitstream obtained by dynamic optimization scanning (e.g., based on the first scanning method) has a final compressed bitstream size of 2.21KB, which is 0% lower than the former.

[0179] When the compression configuration is RLE (run-length encoding) and LZMA (e.g., the first compression configuration is run-length encoding and the second compression configuration is LZMA), the scan bitstream obtained by line scanning results in a final compressed bitstream size of 2.47KB; while the scan bitstream obtained by dynamic optimization scanning (e.g., based on the first scanning method) results in a final compressed bitstream size of 2.04KB, which is a 17.6% reduction in bitrate compared to the former.

[0180] Table 2

[0181] Secondly, this application provides a data processing method, as shown in FIG13, which is applied to a second device and includes:

[0182] S1301: Obtain compressed bitstream and indication information; the indication information indicates the first scanning method and / or compression configuration;

[0183] S1302: Decompress the compressed bitstream based on the compression configuration to obtain the first scan bitstream;

[0184] S1303: Obtain the first scanning mode based on the instruction information;

[0185] S1304: Obtain the grid map corresponding to the first scan code stream based on the first scanning method; wherein, the grid map is used to record the location of entities in the perceived environment.

[0186] It is understood that the sequence numbers of steps S1302 and S1303 above are merely for descriptive convenience and do not limit the actual execution order. The execution order of S1302 can be before S1303, after S1303, or simultaneously.

[0187] It is understandable that when the compression configuration information indicates the correspondence between M scanning methods and S compression configurations (e.g., a mapping relationship), the indication information can indicate the first scanning method and / or the compression configuration. For example, if the indication information only indicates the first scanning method, the second device can obtain the first scanning method based on the indication information (e.g., obtain the first scanning method from the scanning method set information based on the indication information), and obtain the compression configuration from the correspondence based on the first scanning method; or, if the indication information only indicates the compression configuration, the second device can obtain the compression configuration based on the indication information, and obtain the first scanning method from the correspondence based on the compression configuration; or, if the indication information indicates both the first scanning method and the compression configuration, the second device can obtain the first scanning method based on the indication information (e.g., obtain the first scanning method from the scanning method set information based on the indication information) and the compression configuration.

[0188] It is understandable that when the compression configuration information indicates S compression configurations, the indication information must indicate the first scanning method. For example, the second device obtains the compression configuration based on the compression configuration information and obtains the first scanning method based on the indication information (e.g., obtaining the first scanning method from the scanning method set information based on the indication information).

[0189] In the embodiments provided above, the methods provided by the embodiments of this application have been described from the perspective of the first device / second device, respectively. To implement the functions of the methods provided by the embodiments of this application, terminals or access network devices, servers, core network devices, etc., may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the design constraints of the specific application of the technical solution.

[0190] Therefore, in a third aspect, this application provides a possible structure for a communication device, as shown in FIG14. These communication devices can implement one or more corresponding functions in the above-described method embodiments. For example, functions implemented by a first communication device or a second communication device may achieve the beneficial effects of the above-described method embodiments. In the embodiments of this application, the communication device may be a terminal or an access network device, or the communication device may be a module (such as a chip) applied in a terminal or access network device.

[0191] As shown in Figure 14, the communication device 1400 includes a processing unit 1410 and a transceiver unit 1420. The communication device 1400 is used to implement the functions of the first device in the method embodiment of Figure 3 or the second device in Figure 13. Optionally, the transceiver unit 1420 may also be referred to as an output unit, an interface unit, or a communication unit, etc. In one possible implementation, the transceiver unit 1420 includes at least one of a transmitting unit or a receiving unit. The transmitting unit and the receiving unit can be integrated together, or they can be two independent units, etc.

[0192] When the communication device 1400 is used for the function of the first device in Figure 3, specifically:

[0193] The transceiver unit 1420 outputs a compressed bitstream and indication information, the indication information indicating the first scanning mode and / or compression configuration;

[0194] Processing unit 1410 obtains a first scan bitstream corresponding to the grid map under the first scan map based on the first scan map in the scan map set information, wherein the grid map is used to record the entity positions in the perceived environment; and compresses the first scan bitstream based on the compression configuration to obtain a compressed bitstream.

[0195] In one possible implementation, the set of scanning methods includes M scanning methods, where the first scanning method is one of the M scanning methods, and M is a positive integer.

[0196] In one possible implementation, the first scanning method is obtained based on the scanning method used in the current mesh graph storage; or, the first scanning method is obtained based on historical information; or, the first scanning method is obtained based on traversal.

[0197] In one possible implementation, the mesh diagram is a 2D mesh diagram, and the scanning method set information includes any one or more of the following: horizontal scanning, vertical scanning, zigzag scanning; or,

[0198] The grid diagram is a 3D grid diagram, and the scanning method in the scanning method set information includes: scanning sequentially according to the scanning order defined by the X, Y, and Z axes.

[0199] In one possible implementation, the method further includes: obtaining a partitioning method, and partitioning the mesh graph according to the partitioning method to obtain multiple sub-mesh graphs.

[0200] In one possible implementation, there are multiple block partitioning methods, and the block partitioning method with the highest compression efficiency is selected for partitioning.

[0201] In one possible implementation, the method also includes indicating the block partitioning method that yields the highest compression efficiency.

[0202] In one possible implementation, obtaining the first scan bitstream corresponding to the mesh diagram under the first scanning mode specifically includes:

[0203] Based on the first scanning mode in the scanning mode set information, the first scan bitstream of multiple sub-grid maps under the first scanning mode is obtained respectively.

[0204] In one possible implementation, the method further includes: a transceiver unit 1420, which acquires scanning mode set information.

[0205] In one possible implementation, compressing the first scan bitstream according to the compression configuration to obtain a compressed bitstream specifically includes:

[0206] The first scan bitstream is compressed based on the compression configuration indicated by the compression configuration information to obtain a compressed bitstream.

[0207] In one possible implementation, the compression configuration information indicates: S compression configurations; or, the correspondence between M scanning methods and S compression configurations, where S is a positive integer.

[0208] In one possible implementation, the compression configuration information indicates S types of compression configurations, including any one or more of the following: differential coding configuration, run-length coding configuration, LZMA coding configuration, or entropy coding configuration.

[0209] In one possible implementation, compressing the first scan bitstream based on the compression configuration indicated by the compression configuration information to obtain a compressed bitstream specifically includes:

[0210] The first scan bitstream is compressed based on the first compression configuration indicated by the compression configuration information to obtain a first compressed bitstream; or...

[0211] The first scan bitstream is compressed sequentially based on the first compression configuration and the second compression configuration indicated by the compression configuration information to obtain the second compressed bitstream; wherein the first compression configuration and the second compression configuration are one of S compression configurations.

[0212] In one possible implementation, the method further includes: a transceiver unit 1420, which obtains compression configuration information.

[0213] When the communication device 1400 is used for the function of the second device in Figure 13, specifically:

[0214] Transceiver unit 1420 acquires compressed bitstream and indication information; the indication information indicates the first scanning method and / or compression configuration.

[0215] The processing unit 1410 decompresses the compressed bitstream based on the compression configuration to obtain a first scan bitstream; obtains a first scanning mode based on the indication information; and obtains a grid map corresponding to the first scan bitstream based on the first scanning mode; wherein the grid map is used to record the location of entities in the perceived environment.

[0216] In one possible implementation, the set of scanning methods includes M scanning methods, where the first scanning method is one of the M scanning methods, and M is a positive integer.

[0217] In one possible implementation, the mesh diagram is a 2D mesh diagram, and the scanning method set information includes any one or more of the following: horizontal scanning, vertical scanning, zigzag scanning; or, the mesh diagram is a 3D mesh diagram, and the scanning method set information includes: scanning sequentially according to the scanning order defined by the X, Y, and Z axes.

[0218] In one possible implementation, obtaining the mesh map corresponding to the first scan bitstream based on the first scanning method specifically includes: a processing unit 1410, which obtains the mesh map corresponding to the first scan bitstream based on the first scanning method and the block division method.

[0219] In one possible implementation, the method further includes: a transceiver unit 1420 for obtaining the block format.

[0220] In one possible implementation, there are multiple block partitioning methods, and the indicator of the block partitioning method with the highest compression efficiency is obtained.

[0221] In one possible implementation, the method further includes: a transceiver unit 1420, which acquires scanning mode set information.

[0222] In one possible implementation, decompressing the compressed bitstream based on the compression configuration to obtain the first scan bitstream specifically includes:

[0223] Processing unit 1410 decompresses the compressed bitstream based on the compression configuration indicated by the compression configuration information to obtain the first scan bitstream.

[0224] In one possible implementation, the compression configuration information indicates: S compression configurations; or, the correspondence between M scanning methods and S compression configurations, where S is a positive integer.

[0225] In one possible implementation, the compression configuration information indicates S types of compression configurations, including any one or more of the following: differential coding configuration, run-length coding configuration, LZMA coding configuration, or entropy coding configuration.

[0226] In one possible implementation, decompressing the compressed bitstream based on the compression configuration indicated by the compression configuration information to obtain the first scan bitstream specifically includes: a processing unit 1410, which decompresses the compressed bitstream based on the first compression configuration indicated by the compression configuration information to obtain the first scan bitstream; or, decompressing the compressed bitstream sequentially based on the second compression configuration indicated by the compression configuration information and the first compression configuration to obtain the first scan bitstream; wherein the first compression configuration and the second compression configuration are one of S compression configurations.

[0227] In one possible implementation, the method further includes: a transceiver unit 1420, which obtains compression configuration information.

[0228] For a more detailed description of the processing unit 1410 and the transceiver unit 1420, please refer to the description in Figure 3 or Figure 13 of the above method embodiments, which will not be repeated here.

[0229] It is understood that the division of units in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. In addition, the functional units in this application embodiment can be integrated into a physical device (e.g., in a processor), or each functional unit can be a separate physical device, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional module, etc.

[0230] Figure 15 shows the structure of another possible communication device provided in this application. As shown in Figure 15, the communication device 1500 includes a processing circuit 1510 and an interface circuit 1520. The processing circuit 1510 and the interface circuit 1520 are coupled to each other. It is understood that the processing circuit 1510 can be a processor, and the interface circuit 1520 can be a transceiver or an input / output interface.

[0231] Optionally, the communication device 1500 may further include a memory 1530 for storing instructions executed by the processing circuit 1510, or storing input data required for the running instructions of the processing circuit 1510, or storing data generated after the running instructions of the processing circuit 1510.

[0232] Optionally, the memory (e.g., 1530) in the embodiments of this application may be integrated into the processing circuit (e.g., 1510), or the memory (e.g., 1530) and the processing circuit (e.g., 1510) may be set separately.

[0233] When the communication device 1500 is used to implement the method shown in FIG3 or FIG13, the processing circuit 1510 is used to implement the function of the processing unit 1410, and the interface circuit 1520 is used to implement the function of the transceiver unit 1420.

[0234] When the aforementioned communication device is a chip applied to a terminal, the chip implements the functions of the terminal in the above method embodiments. The chip receives information sent to the terminal by the access network device through other modules (such as a radio frequency module or antenna) in the terminal; or, the chip sends information to other modules (such as a radio frequency module or antenna) in the terminal, which is information sent by the terminal to the access network device.

[0235] When the aforementioned communication device is a module applied to an access network device, the module implements the functions of the access network device in the above method embodiments. The module receives information from other modules (such as a radio frequency module or antenna) in the access network device, the information being sent by the terminal to the access network device; or, the module sends information to other modules (such as a radio frequency module or antenna) in the access network device, the information being sent by the access network device to the terminal.

[0236] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0237] The memory in the embodiments of this application may be random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), register, hard disk, portable hard disk, CD-ROM, or any other form of storage medium known in the art.

[0238] The method steps in the embodiments of this application can be implemented in hardware or in software instructions executable by a processor. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. The storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.

[0239] This application also provides a communication device, which includes a processor and a memory. The processor is used to implement the functions of the first device in FIG3 and / or the second device in FIG13. For example, the processor is used to execute a computer program or instructions stored in the memory, which stores the computer program or instructions. When the computer program or instructions are executed, the methods of the first device in FIG3 and / or the second device in FIG13 are performed. Optionally, the processor and the memory are coupled.

[0240] This application also provides a communication device, including a processor, which is used to implement the functions of the first device in FIG3 and / or the second device in FIG13.

[0241] This application also provides a computer-readable storage medium storing instructions, which may also be referred to as computer programs, computer program code, etc. The instructions are executed on a computer to enable the functions of the first device in FIG3 and / or the second device in FIG13 in the above method embodiments.

[0242] This application also provides a computer program product, including a computer program or instructions, wherein the computer program product includes a computer program or instructions for performing a method of the first apparatus in FIG3, or the computer program product includes a computer program or instructions for performing a method of the second apparatus in FIG13.

[0243] This application also provides a chip including a processor coupled to a memory. The processor is used to execute computer programs or instructions stored in the memory, so that the functions of the first device in FIG3 and / or the second device in FIG13 are realized.

[0244] This application also provides a communication system, including a first communication device and a second communication device. The first communication device is used to implement the function of the first device in FIG3, and the second communication device is used to implement the function of the second device in FIG13.

[0245] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0246] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. "Including at least one of A, B, and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0247] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0248] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

Claims

1. A data processing method, characterized in that, The method is used in a first device and includes: Based on the first scanning method in the set of scanning methods, a first scanning bitstream corresponding to the grid map under the first scanning method is obtained, wherein the grid map is used to record the location of entities in the perceived environment; The first scan bitstream is compressed based on the compression configuration to obtain a compressed bitstream; Output the compressed bitstream and indication information, wherein the indication information indicates the first scanning method and / or the compression configuration.

2. The method as described in claim 1, characterized in that, The set of scanning methods includes M scanning methods, wherein the first scanning method is one of the M scanning methods, and M is a positive integer.

3. The method according to any one of claims 1-2, characterized in that, The first scanning method is based on the scanning method used when the current grid graph was stored; or, the first scanning method is based on historical information; or, the first scanning method is based on traversal.

4. The method according to any one of claims 1-3, characterized in that, The grid diagram is a 2D grid diagram, and the scanning methods in the scanning method set information include any one or more of the following: horizontal scanning, vertical scanning, and zigzag scanning. or, The grid diagram is a 3D grid diagram, and the scanning methods in the scanning method set information include: scanning sequentially according to the scanning order defined by the X, Y, and Z axes.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: obtaining a segmentation method, and segmenting the mesh diagram according to the segmentation method to obtain multiple sub-mesh diagrams.

6. The method as described in claim 5, characterized in that, There are multiple block partitioning methods, and the block partitioning method with the highest compression efficiency is selected for partitioning.

7. The method as described in claim 6, characterized in that, The method further includes: indicating the block segmentation method with the highest compression efficiency.

8. The method according to any one of claims 5-7, characterized in that, The specific steps of obtaining the first scan bitstream corresponding to the grid map under the first scanning method include: Based on the first scanning method in the set of scanning methods, the first scan bitstream of each of the multiple sub-grid maps under the first scanning method is obtained.

9. The method according to any one of claims 1-8, characterized in that, The method further includes: obtaining the scanning method set information.

10. The method according to any one of claims 1-9, characterized in that, The step of compressing the first scan bitstream according to the compression configuration to obtain a compressed bitstream specifically includes: The first scan bitstream is compressed based on the compression configuration indicated by the compression configuration information to obtain a compressed bitstream.

11. The method as described in claim 10, characterized in that, The compression configuration information indicates: S types of compression configurations; or, the correspondence between the M types of scanning methods and the S types of compression configurations, where S is a positive integer.

12. The method as claimed in any one of claims 11, characterized in that, The compression configuration information indicates that the S types of compression configurations include any one or more of the following: differential coding configuration, run-length coding configuration, LZMA coding configuration, or entropy coding configuration.

13. The method according to any one of claims 10-12, characterized in that, The compression configuration based on the compression configuration information indicates that the first scan bitstream is compressed to obtain a compressed bitstream, specifically including: The first scan bitstream is compressed based on the first compression configuration indicated by the compression configuration information to obtain a first compressed bitstream; or... Based on the first compression configuration and the second compression configuration indicated by the compression configuration information, the first scan bitstream is compressed sequentially to obtain the second compressed bitstream; Among them, the first compression configuration and the second compression configuration are one of the S compression configurations.

14. The method according to any one of claims 10-13, characterized in that, The method further includes: obtaining the compression configuration information.

15. A data processing method, characterized in that, The method is used in a second device and includes: Acquire compressed bitstream and indication information; the indication information indicates a first scanning method and / or compression configuration; The compressed bitstream is decompressed based on the compression configuration to obtain the first scan bitstream; The first scanning method is obtained based on the indicated information; A grid map corresponding to the first scan code stream is obtained based on the first scanning method; wherein, the grid map is used to record the location of entities in the sensing environment.

16. The method as described in claim 15, characterized in that, The set of scanning methods includes M scanning methods, wherein the first scanning method is one of the M scanning methods, and M is a positive integer.

17. The method according to any one of claims 15-16, characterized in that, The grid diagram is a 2D grid diagram, and the scanning method in the scanning method set information includes any one or more of the following: horizontal scanning, vertical scanning, and zigzag scanning. or, The grid diagram is a 3D grid diagram, and the scanning method in the scanning method set information includes: scanning sequentially according to the scanning order defined by the X, Y, and Z axes.

18. The method according to any one of claims 15-17, characterized in that, The step of obtaining the grid map corresponding to the first scan bitstream based on the first scanning method specifically includes: obtaining the grid map corresponding to the first scan bitstream based on the first scanning method and the block division method.

19. The method as described in claim 18, characterized in that, The method further includes: obtaining the block division method.

20. The method as described in claim 19, characterized in that, The block segmentation method is multiple, and the indication of the block segmentation method with the highest compression efficiency is obtained.

21. The method according to any one of claims 15-20, characterized in that, The method further includes: obtaining scanning method set information.

22. The method according to any one of claims 15-21, characterized in that, The step of decompressing the compressed bitstream based on the compression configuration to obtain the first scan bitstream specifically includes: The compressed bitstream is decompressed based on the compression configuration indicated by the compression configuration information to obtain the first scan bitstream.

23. The method as described in claim 22, characterized in that, The compression configuration information indicates: S types of compression configurations; or, the correspondence between the M types of scanning methods and the S types of compression configurations, where S is a positive integer.

24. The method as described in claim 23, characterized in that, The compression configuration information indicates that the S types of compression configurations include any one or more of the following: differential coding configuration, run-length coding configuration, LZMA coding configuration, or entropy coding configuration.

25. The method according to any one of claims 22-24, characterized in that, The decompression of the compressed bitstream based on the compression configuration information to obtain the first scan bitstream specifically includes: The compressed bitstream is decompressed based on the first compression configuration indicated by the compression configuration information to obtain a first scan bitstream; or... Based on the second compression configuration indicated by the compression configuration information and the first compression configuration, the compressed bitstream is decompressed in sequence to obtain the first scan bitstream; Among them, the first compression configuration and the second compression configuration are one of the S compression configurations.

26. The method according to any one of claims 22-25, characterized in that, The method further includes: obtaining the compression configuration information.

27. A communication device, characterized in that, The device includes: A processor for executing computer programs or instructions; When the computer program or instructions are run by the processor, the method as described in any one of claims 1-14 is executed, and / or the method as described in any one of claims 15-26 is executed.

28. The apparatus as claimed in claim 27, characterized in that, The device further includes a memory for storing the computer program or instructions.

29. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the method as described in any one of claims 1-14 to be performed, and / or the method as described in any one of claims 15-26 to be performed.

30. A computer program product, characterized in that, The computer program product includes a computer program or instructions for performing the method as described in any one of claims 1-14, and / or includes a computer program or instructions for performing the method as described in any one of claims 15-26.

Images