Abstract: An example device for processing image data includes a memory configured to store image data; and one or more processors implemented in circuitry and configured to: determine a set of keypoints representing objects in an image of the image data captured by a camera of a vehicle; determine depth values for the objects in the image; determine positions of the objects relative to the vehicle using the set of keypoints and the depth values; and at least partially control operation of the vehicle according to the positions of the objects. For example, the depth values may represent descriptors for the keypoints or be used to determine the descriptors for the keypoints.

Abstract: Techniques and systems are provided for localization of an apparatus. For instance, a process can include: obtaining a map of an environment, the map including a map point representing an object in the environment; obtaining image data including the object in the environment, wherein the image data is associated with a camera pose; obtaining point information from the obtained image data, the obtained point information describing two or more points of the object in the obtained image data; determining whether to associate the point information with the map point based, at least in part, on a comparison of the map point and an estimated point, wherein the estimated point is estimated based on the camera pose and point information; and based on the determination to associate the point information with the map point, associating the point information with the map point to localize an apparatus.

Abstract: Techniques and systems are provided for vehicle localization. For instance, a process can include obtaining a point corresponding to a target in an environment, the point indicating a location of the target in the environment, and wherein the point is a non-semantic point for use with a non-semantic layer (NSL) of a map, obtaining pose information indicating a heading of a vehicle, generating a map point based on a quantization of the obtained point, and outputting the generated map point to a map server. For another instance, a process can include obtaining a NSL of a map of an environment, the NSL including a map point corresponding to a target in the environment, wherein the point is a non-semantic point; determining, based on a comparison between the pose information and the heading information, that the target is relevant to the vehicle; and transmitting the map point to the vehicle.

Abstract: Disclosed are techniques for wireless communication. In particular, aspects relate to configuring, triggering and/or transmitting relative and global position-orientation messages (e.g., from a vehicle equipped with sensors to enable estimation of relative and global position-orientation to a network entity).

Abstract: A wireless device may obtain, from a camera, an image with at least one captured object, which may include a plurality of dimensions. The image may include a 2D projection of the at least one captured object. The wireless device may calculate at least one dimension of the plurality of dimensions of the at least one captured object based on the 2D projection of the at least one captured object. The wireless device may estimate an inverse depth of the plurality of dimensions of the at least one captured object based on information associated with one or more properties of the camera or of at least one reference object associated with the at least one captured object. The wireless device may transmit an indication of the plurality of dimensions of the at least one captured object including the calculated at least one dimension and the estimated inverse depth.

Abstract: Creating and updating an accurate radar map layer for HD map using crowdsourcing may comprise a vehicle obtaining radar data and filtering the radar data on a frame-by-frame basis. In some embodiments, additional filtering may be made on a batch of frames. The vehicle can then transmit the filtered radar data responsive to a determination that a confidence of a position estimate of the vehicle exceeds a conference threshold level and/or a determination that a reliance of the position estimate of the vehicle on the radar data exceeds a reliance threshold level.

Abstract: Systems, methods, and devices for radio frequency (RF) ranging-aided localization and crowdsourced mapping are provided. In one aspect, a method performed by a user equipment (UE) includes obtaining sensor data comprising first radio frequency (RF) ranging data and imaging data. The method further includes tagging the first RF ranging data with location information and semantic information, wherein the semantic information is based on the imaging data, and wherein the semantic information indicates a first portion of the RF ranging data is associated with a static object type and a second portion of the RF ranging data is associated with a temporary-static object type different from the static object type. The method further includes transmitting, to a RF ranging assistance server, the first RF ranging data tagged with the location information and the semantic information.

Abstract: The present disclosure includes a method and apparatus for sensor assisted beam selection. A method for sensor assisted beam selection includes receiving an input from a sensor indicating a presence of an obstacle proximate to the sensor. The method further includes identifying an antenna module proximate to the sensor. The method further includes deactivating at least a portion of the identified antenna module based on the input from the sensor.

Abstract: Methods and apparatus for relay aided beam management in a vehicle communication system are provided. The relay comprises an antenna system including an internal antenna located inside a vehicle and an external antenna located outside the vehicle. The relay further comprises a transceiver operably connected to the antenna system, the transceiver configured to receive, from a base station (BS), a first signal via the external antenna of the antenna system, and receive, from the vehicle, configuration information including at least one of a vehicle speed, or a position of a window of the vehicle or windshield wiper. The relay further comprises a processor operably connected to the antenna system and the transceiver, the processor configured to generate a second signal based on (i) the configuration information and (ii) the first signal, wherein the transceiver is further configured to transmit, to a user equipment (UE), the second signal via the internal antenna.

Abstract: Methods and apparatus for relay aided beam management in a vehicle communication system are provided. The relay comprises an antenna system including an internal antenna located inside a vehicle and an external antenna located outside the vehicle. The relay further comprises a transceiver operably connected to the antenna system, the transceiver configured to receive, from a base station (BS), a first signal via the external antenna of the antenna system, and receive, from the vehicle, configuration information including at least one of a vehicle speed, or a position of a window of the vehicle or windshield wiper. The relay further comprises a processor operably connected to the antenna system and the transceiver, the processor configured to generate a second signal based on (i) the configuration information and (ii) the first signal, wherein the transceiver is further configured to transmit, to a user equipment (UE), the second signal via the internal antenna.

Abstract: The present disclosure includes a method and apparatus for sensor assisted beam selection. A method for sensor assisted beam selection includes receiving an input from a sensor indicating a presence of an obstacle proximate to the sensor. The method further includes identifying an antenna module proximate to the sensor. The method further includes deactivating at least a portion of the identified antenna module based on the input from the sensor.