Example communication methods and apparatus are described. In one example method, a terminal device obtains and sends first information, where the first information indicates non-differential information of at least one first target point at a first moment. The terminal device obtains second information and sends the second information, where the second information indicates differential information of at least one second target point, and each of the at least one second target point corresponds to a first target point in the at least one first target point. Differential information of each of the at least one second target point is determined based on non-differential information of the second target point at a second moment and non-differential information of a corresponding first target point at the first moment, and each of the at least one second target point is a target point sensed by the terminal device at the second moment.