Abstract: A real-time ground fusion system is based on binocular stereo vision and an intelligent terminal. The method for accomplish real-time ground fusion includes: S1 of obtaining a disparity map about a same road scenario, and converting a disparity map in a target region into a 3D point cloud; S2 of performing pose conversion on a current frame and a next frame adjacent to the current frame, and performing inverse conversion on a 3D point cloud of the current frame; and S3 of repeating S2 with each frame in the target region as the current frame, so as to achieve ground fusion. Through the conversion and fusion of adjacent frames, holes caused by the projection of the disparity map can be filled to assist driving and output accurate height data, thereby improving comfortableness.

Abstract: According to some embodiments, a method performed by a wireless device for transmitting multiple layers of an uplink physical channel comprises transmitting to a network node an indication of a capability to operate according to a first mode of operation and a second mode of operation. In the first mode a codebook subset comprises precoding matrices with at most one non-zero elements per column, and in the second mode the codebook subset comprises precoding matrices with at most two non-zero elements per column. The codebook subset is in a codebook for use when transform precoding of a physical channel is disabled. The method further comprises receiving a configuration from the network node for a selected mode of operation, and transmitting the physical channel using transform precoding and, at least when transmitting with two layers, using the codebook subset comprising the precoding matrices of the selected mode.

Abstract: A method for communications is proposed. The method may comprise receiving a signaling message from a network node. The signaling message may indicate a subcarrier spacing numerology for a synchronization signal transmission. The method may further comprise determining the subcarrier spacing numerology, based at least in part on the signaling message.

Abstract: Various embodiments of the present disclosure provide a method for random access. The method which may be performed by a terminal device comprises determining a frequency hopping configuration for uplink shared channel transmission to a network node in a two-step contention-free random access procedure. The method further comprises performing the uplink shared channel transmission to the network node in the two-step contention-free random access procedure, according to the determined frequency hopping configuration. According to various embodiments of the present disclosure, frequency hopping may be configured for the uplink shared channel transmission in a two-step contention-free random access procedure in a flexible and efficient way, so that the performance of the random access procedure can be improved.

Abstract: The present disclosure is related to a UE, a network node, and methods for feature based preamble grouping. A method at a UE for performing a random access procedure with a network node comprises: receiving a configuration for PRACH transmission; determining a first preamble from two or more groups of preambles indicated by the received configuration at least partially based on the received configuration and one or more measurements at the UE, the first preamble indicating whether one or more features are requested or not; and transmitting, to the network node, the PRACH transmission by using the first preamble.

Abstract: Various embodiments of the present disclosure provide a method for random access. The method which may be performed by a terminal device comprises determining a interlace configuration for uplink shared channel transmission to a network node in a two-step contention-free random access procedure. The method further comprises performing the uplink shared channel transmission to the network node in the two-step contention-free random access procedure, according to the determined interlace configuration. According to some embodiments of the present disclosure, the interlaced resource allocation for uplink shared channel transmission may be configured for a two-step contention-free random access procedure in a flexible and efficient way, so that the performance of the random access procedure can be improved.

Abstract: Various embodiments of the present disclosure provide methods and apparatuses for determining radio network temporary identifier (RNTI) in a two-step random access procedure. A method of a terminal device, comprising: determining a request message for random access, wherein the request message comprises a preamble and a physical uplink shared channel, PUSCH, message and the PUSCH message is determined based on a first radio network temporary identity, RNTI; transmitting the request message; and obtaining a response message for random access based on a second RNTI, wherein the first RNTI and the second RNTI are the same or different.

Abstract: Various embodiments of the present disclosure provide a method for TBoMS transmission. The method which may be performed by a terminal device comprises encoding with low density parity check (LDPC) base graph on each code block (CB) of a Transport Block over Multiple Slots (TboMS), wherein the TBoMS comprises multiple slots; and performing rate matching on the LDPC code for each of the multiple slots of the TBoMS, wherein a time unit of the rate matching is per slot in the TBoMS, and wherein the TBoMS comprises one or more CBs.

Abstract: A system and method for providing time domain allocations in a communication system. In an embodiment, an apparatus operable in a communication system and including processing circuitry is configured to receive an indication of a time domain allocation in downlink control information associated with a radio network temporary identifier (“RNTI”) identifying the apparatus, and employ the time domain allocation associated with the RNTI for transmissions associated with the apparatus. In another embodiment, an apparatus operable in a communication system and including processing circuitry is configured to associate a time domain allocation with a RNTI identifying a user equipment, and provide an indication of the time domain allocation in downlink control information to allow the user equipment to employ the time domain allocation associated with the RNTI for transmissions associated therewith.

Abstract: Methods, a base station, and a terminal device for a two-step random access procedure are disclosed. The base station transmits a signalling message indicating a waveform of a physical uplink shared channel (PUSCH) without including a waveform of a preamble which is to be used for a message A in the two-step random access procedure, through an air interface. The base station receives the message A using the waveform of the PUSCH through the air interface in the two-step random access procedure.

Abstract: Systems and methods are disclosed for frequency hopping schemes that are compatible with joint channel estimation. In one embodiment, a method implemented in a User Equipment (UE) comprises determining a value of a hopping index for a first set of N consecutive slots, wherein the N is an integer greater than 1, and after the N consecutive slots, incrementing the value of the hopping index for a second set of N consecutive slots. The method further comprises, for an uplink slot within the second set of N consecutive slots, determining a set of physical resource blocks (PRBs) in which to transmit a physical channel from a set of frequency offsets according to the value of the hopping index for the second set of slots and transmitting the physical uplink channel in the selected set of PRBs in the uplink slot.

Abstract: The present disclosure generally relates to the field of wireless communication and, more particularly, to techniques for enabling uplink scheduling. According to one aspect, there is provided a method, implemented in a wireless device, the method comprising determining whether an uplink transmission is for Physical Uplink Shared Channel (PUSCH) repetition or Transport Block processing over Multi-Slot PUSCH (TBoMS) based on a field in a Time Domain Resource Allocation (TDRA) list, and transmitting the uplink transmission in accordance with the determination.

Abstract: The embodiments herein relate to timing advance offset for uplink/downlink switching in New Radio (NR). In one embodiment, there proposes a method in a wireless communication device, comprising: determining a timing advance (TA) offset for uplink/downlink switching, wherein the TA offset is at least based on the time offset requirement for uplink/downlink switching in different scenarios used in communication between the wireless communication device and a network node; applying the determined TA offset in the uplink communication from the wireless communication device to the network node. With embodiments herein, uplink/downlink switching time for NR is defined.

Abstract: According to some embodiments, a method performed by a wireless device for transmitting multiple layers of an uplink physical channel comprises transmitting to a network node an indication of a capability to operate according to a first mode of operation and a second mode of operation. In the first mode a codebook subset comprises precoding matrices with at most one non-zero elements per column, and in the second mode the codebook subset comprises precoding matrices with at most two non-zero elements per column. The codebook subset is in a codebook for use when transform precoding of a physical channel is disabled. The method further comprises receiving a configuration from the network node for a selected mode of operation, and transmitting the physical channel using transform precoding and, at least when transmitting with two layers, using the codebook subset comprising the precoding matrices of the selected mode.

Abstract: The present disclosure is related to a UE, a network node, and methods for uplink transmission with extended uplink reference signal resources. A method at a UE for uplink transmission comprises: receiving, from one or more network nodes, at least one first message indicating at least one of uplink reference signal resources that are configured at the UE and/or indicating an antenna port configuration with up to more than 4 DMRS ports, the number of the configured uplink reference signal resources being up to more than 4 and/or the number of uplink reference signal ports per uplink reference signal resource being up to more than 4; and performing, with at least one of the network nodes, uplink transmission at least partially based on the at least one uplink reference signal resource that is indicated and/or the antenna port configuration that is indicated.

Abstract: The present disclosure is related to a UE, a network node, and methods for uplink transmission with multiple codewords. A method at a UE for UL or DL transmission comprises: receiving, from a network node, a first message for scheduling UL or DL transmission with one or multiple codewords; and performing, with the network node, the UL or DL transmission at least partially based on the first message.

Abstract: According to some embodiments, a method is performed by a network node for semi-persistently scheduled transmission. pattern for multiple transport block (TB) transmission. The method comprises generating a time domain pattern information indicating a time domain pattern for a multiple transport block (TB) transmission. The method further comprises sending the time domain pattern information to a wireless device. The time domain pattern information may include a bitmap to indicate the time domain pattern for the semi-persistently scheduled data transmission. Each data transmission may occur periodically according to a previously 10 provided configuration.

Abstract: The present disclosure is related to a UE, a network node, and methods for uplink transmission with multiple codewords. The method at a UE for uplink transmission with multiple codewords comprises: performing, with one or more network nodes, an uplink transmission with multiple codewords. The method at a network node for uplink transmission with multiple codewords from a UE comprises: performing, with the UE, an uplink transmission with multiple codewords.

Abstract: A method for communications is proposed. The method may comprise receiving a signaling message from a network node. The signaling message may indicate a subcarrier spacing numerology for a synchronization signal transmission. The method may further comprise determining the subcarrier spacing numerology, based at least in part on the signaling message.