1results about How to "Rotation invariant" patented technology

This invention provides a method, apparatus, equipment, and storage medium for characterizing open-pit mine scenes, comprising: segmenting and extracting the point cloud space corresponding to the acquired original laser point cloud to obtain mountain point cloud data; performing coarse fitting on the ground based on the mountain point cloud data, and correcting the pose deviation caused by road bumps accordingly, then projecting the mountain point cloud data onto a two-dimensional plane to obtain a two-dimensional mountain projection point cloud; obtaining the boundary values ​​of the two-dimensional mountain projection point cloud and determining the sampling contour points of the mountain image; constructing a histogram matrix based on the sampling contour points of the mountain image, and then splitting the histogram matrix of all contour points into vectors and concatenating them to obtain a descriptor for the mountain projection; and performing similarity evaluation on the descriptor of the mountain projection to identify identical open-pit mine scenes. This avoids the influence of height errors caused by ground bumps and avoids using geometric features to characterize the scene, enabling scene recognition based on mountain observations at different times.