79 results about "Restoration method" patented technology

The invention provides a chemical restoration method for treating heavy metal-polluted terrain soil by ferromagnetic artificial nucleuses. In a ferromagnetic artificial nucleus soil restoration method, the ferromagnetic artificial nucleuses are applied to heavy metal-polluted soil; soil above a heavy metal pollution depth is overturned by cultivation equipment to uniformly mix with the ferromagnetic artificial nucleuses; and after heavy metal can be dispersed from the soil to the artificial nucleuses by a period of time, the soil containing the artificial nucleuses is overturned by using the cultivation equipment to increase the change of the artificial nucleuses contacting with other soil. After the soil overturning procedure is repeated by multiple times, the cultivation equipment provided with magnets can be used for separating the ferromagnetic artificial nucleuses, absorbed with the heavy metal, from the polluted soil; and the content of the heavy metal of the polluted soil is reduced due to shifting-out of the ferromagnetic artificial nucleuses, so that the purpose of soil restoration is gradually achieved.

The invention belongs to the technical field of computer vision three-dimensional scene repair, and provides an automatic driving three-dimensional scene repair method based on color point cloud prior guidance, which comprises the following steps: acquiring multi-source heterogeneous data; constructing an incomplete semantic two-dimensional Gaussian field according to the multi-source heterogeneous data, and generating an incomplete image sequence, an incomplete depth image sequence and an opacity image sequence; obtaining a color point cloud based on the instance segmentation image, the opacity image, the incomplete image and the incomplete depth image of the reference image; generating a texture pseudo view angle sequence based on the color point cloud; generating a repaired image sequence by taking the texture pseudo view angle sequence as a condition signal of the fine-tuning video diffusion model; generating a repair depth sequence based on the color point cloud; calculating a repair Gaussian loss function based on the repair image sequence and the repair depth sequence, and performing iterative repair optimization on the incomplete semantic two-dimensional Gaussian field to obtain a complete repair two-dimensional Gaussian field; the invention further discloses a computer device. And texture-geometry collaborative automatic driving scene three-dimensional repair is realized.

The invention discloses a lightweight mural virtual restoration method based on an inactive generative model, and belongs to the technical field of digital image processing and computer vision. The objective of the invention is to solve the technical problem of semantic and texture recovery imbalance of an existing deep learning repair model in face of cultural heritage such as murals. A damaged image and a mask are stacked into a multi-channel tensor to be input into a pre-trained AFMNet model, the model adopts an encoder-bottleneck-decoder architecture, and an encoder uses a multi-domain partial convolution module without an activation function to synchronously extract and fuse local texture and frequency domain global structure information and synchronously update the mask; the bottleneck portion models the lowest resolution features and masks thereof through a lightweight multi-head attention module to capture remote dependencies, and a decoder upsamples in conjunction with the features of the jump connection transfer to reconstruct image details. The method is mainly used for carrying out efficient and high-fidelity digital virtual restoration on damaged visual cultural heritage such as ancient murals.

The invention discloses an urban shallow lake ecological protection and restoration method and system integrated with intelligent management and control, and relates to the technical field of water environment ecological management and intelligent water affairs, and the method comprises the steps: constructing a three-dimensional monitoring network to synchronously collect water quality, image and meteorological data, and carrying out the fusion to generate a multi-modal data set; a deep learning model is utilized to realize pollution source tracing, water quality prediction and algae bloom early warning in parallel; based on the prediction result, outputting a multi-facility cooperative regulation strategy through a reinforcement learning agent; and converting the strategy into a hierarchical instruction to drive an execution unit, and feeding back the treated environment state to the model and the intelligent agent to form closed-loop optimization. According to the invention, whole-course intelligent management and control from monitoring to execution are realized, systematicness, accuracy and perspectiveness of lake treatment are effectively improved, and water environment risk response capability and ecological restoration effect are significantly enhanced.

The invention relates to a cultural relic virtual restoration method and device based on a digital twinning technology, equipment and a medium. The method comprises the following steps: acquiring original data of overseas lost cultural relics; performing standardized preprocessing on the original data to obtain a cultural relic data packet; performing three-dimensional geometric reconstruction based on the cultural relic data packet to obtain a cultural relic three-dimensional digital model; identifying diseases appearing in the cultural relic three-dimensional digital model through an image segmentation model to obtain a cultural relic disease list; based on the cultural relic disease list, predicting the risk of the structural stability of the cultural relic three-dimensional digital model through mechanical simulation to obtain a cultural relic risk prediction map; and based on the cultural relic disease list and the cultural relic risk prediction map, parallel generation of restoration strategies with different emphasis points is carried out, and a virtual restoration scheme is obtained. By adopting the method, the initial state of the cultural relic can be reproduced in the virtual environment, the restoration effect can be reviewed, and the potential risk can be accurately predicted.

The invention provides an evaluation and repair method and system for a composite bushing umbrella skirt. The method comprises the following steps: detecting and evaluating the current aging state of the composite bushing umbrella skirt to obtain an aging grade; setting a repair decision according to the aging level; and repairing the composite sleeve umbrella skirt according to the result of the repairing decision. Through the processing of the steps, the evaluation and restoration method breaks through the limitation of detection decentralization, evaluation subjectivity and restoration manual operation in the prior art, establishes a standardized grading evaluation and decision-making mechanism, constructs a whole-process automatic restoration system, and improves the accuracy of the whole-process automatic restoration. According to the method, the aging state of the composite sleeve umbrella skirt can be automatically and accurately evaluated, the repairing process is intelligently and adaptively executed, the repairing effect is verified in a closed loop mode, and standardization, automation and precision of aging repairing of the composite sleeve umbrella skirt are achieved, so that the operation and maintenance cost and dependence on manpower are greatly reduced on the premise that the repairing quality is guaranteed, and the repairing efficiency is improved. And the repair efficiency and quality of the composite sleeve umbrella skirt are improved.

The invention discloses a firmware backdoor detection and one-key security restoration method and system, and relates to the technical field of software detection. The method comprises the steps of obtaining an original byte sequence of a firmware upgrade package; performing segmented structure analysis and standardization on an original byte sequence of the firmware upgrade package to obtain a byte interval index of each segment and an upgrade package segment list; extracting ciphertext statistical characteristics of each segment based on the byte interval index and generating an upgrade package statistical fingerprint; comparing the statistical fingerprint of the upgrade package with a historical baseline to obtain a ciphertext anomaly score; when the ciphertext exception score exceeds a verification trigger threshold value, generating an equipment end verification task and collecting equipment end verification evidence; performing fusion judgment on the basis of the ciphertext anomaly score and the equipment end verification evidence, and outputting a comprehensive risk level and a recommended disposal action; according to the method, the risk detection can be realized without depending on a decryption key or a differential synthetic material, so that the security of firmware upgrading is ensured, and the operation and maintenance efficiency is also considered.

The invention provides a three-dimensional restoration method and device for an object, a storage medium and electronic equipment, and the method is applied to the technical field of computers, and comprises the steps: generating a color image of a target object based on an archaeological drawing of the target object and a photo image of other objects of the same type as the target object, the method comprises the steps of obtaining a color image of a target object, constructing an initial three-dimensional model of the target object based on the color image, obtaining a plurality of key view angle projection structure diagrams for the target object based on a norm division rule of the target object, and carrying out line texture adjustment processing on the initial three-dimensional model based on the key view angle projection structure diagrams and the color image, and obtaining a restored three-dimensional model of the target object. According to the method, the patterns of the target object at other unknown angles can be generated through the division rule expansion of the object, and line texture adjustment processing is performed on the three-dimensional model, so that the overall shape structure, the appearance style and the ornamentation characteristics of the ancient object are restored.

The invention relates to a three-dimensional part color recovery method and device, equipment, a medium and a product. The method comprises the steps of obtaining an initial model file corresponding to a target part; recursive analysis processing is conducted on the initial model file, a topological shape set and a color set are obtained, and the color set comprises colors corresponding to all topological shapes in the topological shape set; obtaining a target assembly structure corresponding to the target part, and constructing a target shape combination based on the topological shape set and the target assembly structure; and performing color mapping processing on the target shape combination by using the color set and the target assembly structure to obtain a color model file corresponding to the target part. By adopting the method, the visualization accuracy can be improved.

The invention discloses a multi-source data-driven ecological protection and restoration method and system, and aims to solve the technical problems of contradiction between wetland and forest environment monitoring precision and cost, poor data transmission adaptability, and weak analysis model over-fitting and generalization ability. According to the method, a heterogeneous wireless ad hoc network driven by multi-source data is constructed, and a wireless sensor network and a Mesh network are fused, so that efficient sensing and reliable transmission of wetland and forest land environments are realized; low-cost sensor data is processed by adopting a machine learning and optimization theory, a lightweight environment intelligent detection model is established, an environment-sensitive wireless sensor MAC protocol is optimally designed, and the data transmission efficiency and reliability in a complex environment are improved. According to the method, the monitoring cost can be remarkably reduced, the accuracy and efficiency of ecological environment assessment and pest control and prevention are improved, technical support is provided for ecological protection and restoration, healthy tourism development and digital forest protection, and the method has important application value and social benefits.

The application provides an image restoration method and device based on artificial intelligence, electronic equipment and computer readable storage medium; the method comprises the following steps: obtaining an image to be restored; performing degradation removal processing on the image to be restored to obtain a latent code feature corresponding to the image to be restored and at least two spatial features of different scales; performing mapping processing on the latent code feature based on at least two latent code networks to obtain at least two latent codes corresponding to the at least two latent code networks one by one; and based on the at least two spatial features of different scales, modulating the prior feature corresponding to the at least two latent codes to obtain a restored image corresponding to the image to be restored. Through the application, the authenticity and credibility of image restoration can be improved.

This application discloses a method and apparatus for restoring three-dimensional information. The technical solution provided in this application involves identifying a lost frame and a successfully reconstructed reference frame adjacent to the lost frame when reconstruction failure is determined in the reconstructed area; upsampling the reference frame and the lost frame; determining a first feature matching relationship between the reference frame and the lost frame based on the sampling results; and estimating the relative motion between the reference frame and the lost frame based on the first feature matching relationship to restore the pose and point cloud of the lost frame. By employing the above technical means, the pose and point cloud of the lost frame can be recovered using the reference frame, thus achieving the restoration of a lost scene. Furthermore, the upsampling method eliminates the need for re-measuring the image online, thereby improving the real-time performance of three-dimensional reconstruction, efficiently restoring lost scenes in the event of scene loss, and enhancing the user's experience with three-dimensional reconstruction information.

The invention relates to the technical field of three-dimensional model local restoration, and provides a three-dimensional model water area restoration method supporting cross Tiles and an electronic device. After a complete new grid is generated for a water area needing to be repaired, the whole new grid is distributed to each corresponding tile, so that each block grid, corresponding to the three-dimensional model, of the water area is repaired, and the situation that original grids in all tiles are spliced together is avoided; the method avoids the classification of the intersecting lines of the water area range lines and the original three-dimensional model, does not need manual intervention, improves the simplicity, portability and automation degree, reduces the repair difficulty, reduces the calculation amount, and is more conducive to the popularization and application.

The invention provides a high-definition restoration method and device for a building effect picture, electronic equipment and a storage medium. The method comprises the steps that a building effect picture data set is acquired; constructing a style conformity function and a culture integrating function according to the labeling information, and constructing a comprehensive objective function according to the style conformity function and the culture integrating function; taking each original building effect picture as a particle, determining an initial weight set of each original building effect picture according to the labeling information, and taking the initial weight set as an initial position of the particle; iteratively updating the initial position, and calculating a comprehensive objective function according to the position updating result of each round; training a preset initial diffusion large model according to a final position obtained after the last iteration update to obtain a final high-definition repair model; and inputting a to-be-repaired building effect picture into the final high-definition repair model to obtain a repaired final building effect picture. The repairing effect of the building effect picture can be improved, and the labor cost is reduced.

The present application provides an image quality restoration method, device, storage medium and program product. Each instance is obtained by performing semantic segmentation on a first image. A plurality of preset operators are obtained from a preset operator pool corresponding to any instance, and a plurality of first candidate restoration results of the instance are generated by using the plurality of preset operators to respectively restore the quality of the instance. A plurality of candidate restoration results of the first image are obtained by fusing the plurality of first candidate restoration results of each instance. The optimal restoration result of the first image is determined from the plurality of candidate restoration results of the first image. The bias constraint of global optimization is broken, instance-level differentiated reconstruction is realized, instance texture blurring, boundary weakening and semantic misjudgment in complex scenes are avoided, the detail fidelity of real-world super-resolution and restoration is improved, the perception needs of different instances are accurately matched, the visual quality of key instances is guaranteed, and the local structure integrity and key texture information of the scene are effectively protected.

The invention provides a cost calculation restoration method and device supporting a self-defined restoration range, equipment and a medium, belongs to the technical field of cost accounting, configures the cost restoration range, creates an intermediate table for cost restoration calculation, and defines input and output functions. Wherein the cost center selection range of the meter body is constrained by the accounting organization and the range type of the meter head. And receiving a to-be-restored cost calculation single header ID and a restoration range header ID, and initializing the maximum level to be 1. And updating the material unit price and the completion cost of the reset unit price record according to the hierarchy from high to low, summarizing the update header data and transmitting the latest cost price. And calculating a quantity / amount coefficient, and adjusting and inserting the associated table body data. And dumping the intermediate table data to a cost reduction calculation sheet, and filling missing source accounting organization / cost center information. According to the method, cross-organization automatic reduction of cost data is realized, the accuracy and transparency of cost calculation are improved, and multi-organization cost management and decision are effectively supported.

The embodiment of the present disclosure relates to the technical field of databases, and discloses a parallel restoration method and device for a non-parallel backup set, equipment, a medium and a product, which comprises the following steps: determining a resolution result of a target non-parallel backup set; the resolution result comprises a backup slice sequence, and a task state tracking array is initialized according to the backup slice sequence; a current to-be-scheduled backup slice is determined from the backup slice sequence according to a current backup slice index value; a target task thread group is allocated for the current to-be-scheduled backup slice based on a task thread group set, so that the target task thread group performs a data restoration task on the current to-be-scheduled backup slice; in response to successful allocation of the target task thread group for the current to-be-scheduled backup slice, the task state tracking array and the current backup slice index value are updated, and a target total quantity is determined; if the target total quantity meets a first preset condition, the data restoration task that has been initiated is waited to be executed, and the restoration of the target non-parallel backup set is completed, thereby realizing the parallel restoration of the non-parallel backup set.

The invention discloses a fringe projection profilometry-based three-dimensional restoration method and system, and mainly solves the problems of large calculation amount, texture loss and training data shortage in traditional three-dimensional restoration. The system comprises an MEMS fringe projection unit, an intelligent repair calculation unit and a 3D printing execution unit. According to the method, firstly, an FPGA is used for controlling an MEMS galvanometer to conduct high-precision three-dimensional scanning, then three-dimensional data are subjected to dimensionality reduction to form a depth map, intelligent prediction and texture repair of a damaged area are completed by improving a U-Net generative adversarial network, a repair point cloud model is obtained through reverse mapping, the repair point cloud model is imported into a 3D printer, and precise copying of an entity is completed through automatic parameter matching. According to the method, a whole-process closed loop from damaged entity scanning to complete entity printing is realized, the method has the characteristics of high-precision reconstruction, vivid texture repair and automatic manufacturing, the three-dimensional repair requirements of most objects in the real world can be met, and cultural relic digital protection is a key application scene.

Embodiments of the present application provide a digital certificate recovery method and device. The method comprises: determining a recovery operation being executed, wherein the recovery operation is used for recovering a certificate to be recovered; determining corresponding certificate state information of the recovery operation according to a corresponding relationship between the recovery operation and the certificate state information, wherein the certificate state information is used for indicating that the recovery operation is normally executed and completed; and saving the certificate state information when it is detected that the recovery operation is normally executed and completed, so as to monitor the digital certificate recovery by using the certificate state information. According to the embodiments of the present application, the certificate state recovery identifier is saved when the recovery operation is normally executed and completed, the execution of the recovery operation can be monitored, and thus whether the execution of the recovery operation is normal can be accurately identified.

This invention relates to an intelligent method and device for restoring damaged stone inscriptions. The method includes: constructing an ancient script character database based on images of intact inscriptions; calculating the similarity between the input damaged stone inscription and the glyph samples in the ancient script character database, using structural consistency, contour similarity, skeletal correspondence, and stylistic similarity as criteria, and calculating the weighted similarity of the above four criteria; outputting k glyphs from highest to lowest according to the weighted similarity of the above four criteria, denoted as Top-k candidate characters; and reordering the Top-k candidate characters based on the context of the inscription, the relationship between adjacent characters, and common character usage rules, and outputting them to provide researchers with auxiliary references for restoration. The intelligent restoration method for damaged stone inscriptions provided by this invention only requires a small number of high-quality inscription samples for training when constructing the ancient script character database, and models are built based on the stone inscription samples, which has the advantages of strong practicality and high restoration accuracy.

The application discloses a kind of light-weight mural virtual repair methods based on non-activation generative model, belong to digital image processing and computer vision technical field.The existing deep learning repair model is aimed at solving the technical problems of unbalanced semantics and texture recovery when facing mural and other cultural heritage.By stacking the damaged image and the mask into a multi-channel tensor input into the pre-trained AFMNet model, the model uses an encoder-bottleneck-decoder architecture, the encoder uses a multi-domain partial convolution module without activation function to extract and fuse local texture and frequency domain global structure information and update the mask simultaneously, the bottleneck part models the lowest resolution feature and its mask through a lightweight multi-head attention module to capture long-range dependencies, and the decoder upsamples the features transmitted through the skip connection to reconstruct the image details.This method is mainly used for efficient and high-fidelity digital virtual repair of damaged ancient murals and other visual cultural heritage.

The application relates to a container-based development environment recovery method and related equipment. In the process of starting a container to create a development environment, a constructed union file system comprises a base image layer, a writable layer and a read-write layer, and user data is data generated by a user in a task instance executed under a current development environment; wherein the writable layer and the read-write layer are configured in a persistent storage volume, and the persistent storage volume is a storage unit independent of a computing node where the container is located; the development environment recovery method comprises the following steps: after the container stops running, a new container is started in response to a request for re-accessing the development environment; and the persistent storage volume corresponding to the development environment is allocated to the new container to reconstruct the union file system based on the writable layer and the read-write layer. The application solves the problem that the running environment state formed by user operation in the container is easily lost when the container is destroyed, migrated or reconstructed, as mentioned in the prior art.

This invention relates to a method, apparatus, electronic device, and storage medium for the compaction and restoration of paleomorphology and paleostructures. The embodiments pertain to the field of geological engineering, and disclose a method, apparatus, electronic device, and storage medium for the compaction and restoration of paleomorphology and paleostructures. The method includes acquiring target layer depth data, performing iterative processing using the steepest descent method on a point-by-point basis based on the target layer depth data to obtain the stratigraphic thickness, and performing planar mapping based on the stratigraphic thickness to obtain a restored true paleomorphological and paleostructural plan view. This method, applied to the compaction and restoration of paleomorphology and paleostructures, enables rapid iteration and accurate restoration of the target layer thickness. It solves the problems of complex processes and significant discrepancies in the restored stratigraphic data found in existing compaction and restoration techniques.

The present application relates to a data backup and restoration method in a UEFI environment, and belongs to the technical field of data backup and restoration, wherein the present application initializes a storage device interface in a UEFI operating environment, then identifies the data to be backed up, obtains a backup data identification result, reads sector data in a source storage medium, determines a backup area according to the sector data in the source storage medium, determines a backup strategy based on the backup data identification result and the backup area, thereby backing up the data to be backed up based on the backup strategy and writing into a target storage location, in the restoration process, identifying the data to be restored, obtaining a to-be-restored identification result, and finally restoring the data based on the to-be-restored identification result. The present application can perform backup and restoration in the environment of UEFI without relying on an operating system. Moreover, the backup and restoration is a hard disk level backup and restoration, supports backup of multiple operating systems, and avoids compatibility problems caused by system differences in traditional schemes.

The invention belongs to the field of data processing, and discloses a power grid regulation and control data restoration method and a related device, abnormal data nodes are positioned in a data consanguinity map of power grid regulation and control data according to data abnormal information, abnormal source nodes are found out through reverse traceability, an abnormal restoration range and priority are determined through forward influence analysis, and a power grid regulation and control data restoration result is obtained. The abnormal source and the restoration range are rapidly and accurately positioned and the priority is determined by means of the data consanguinity map, so that the positioning efficiency and accuracy are improved. Generating an exception restoration environment in combination with the exception scene, the exception type and the priority, selecting an adaptive strategy from a preset restoration strategy library, obtaining a confidence level of the strategy in the current environment, determining an execution mode according to the confidence level, and restoring exception source node data according to the execution strategy; and repairing each data node in the abnormal repairing range. According to the method, manual intervention is reduced, the repair accuracy and efficiency are improved, the repair reliability is guaranteed, and the power grid regulation and control data quality and the intelligent operation level are improved.

This invention discloses a seamless removal and restoration method and system for specific targets in remote sensing images. Addressing the problems of high redundancy in horizontal detection box masks and poor structure preservation in restoration models in existing technologies, this invention first utilizes an improved YOLOv11_obb network to perform rotating target detection on the remote sensing image, obtaining rotated bounding boxes with angle information. Secondly, a binarized rotated mask is generated based on the rotated bounding boxes to preserve the original background information to the greatest extent. Finally, the remote sensing image and the mask are stitched together and input into a network restoration model based on the LaMa architecture. Leveraging the global receptive field characteristics of FFC, long-range dependencies are captured in the frequency domain, and texture synthesis and structural reconstruction are performed on the masked region to obtain a seamless restored image after the removal of the specific target. This invention can effectively remove specific targets such as aircraft and ships, and the restored image significantly outperforms existing diffusion models and traditional restoration methods in terms of geometric structure consistency and color fidelity, making it suitable for scenarios such as privacy protection and feature editing.

The invention belongs to the technical field of video monitoring and data security, and particularly relates to an anonymized video recording and restoring method and system based on container reversible restoration. The recording method comprises the following steps: performing anonymization processing on a sensitive area; encoded reference pixel data (such as a local reconstructed frame) is obtained, spatial domain differential pixel values are calculated based on the data and development levels are divided, content binding hash is constructed, and it is encrypted and packaged in an independent metadata track of a container. The restoration method comprises the following steps: executing file integrity and content binding dual hash verification on the record file, executing spatial domain differential recovery only when verification is consistent, and forcibly keeping an anonymization state if verification is consistent. According to the method, lossy compression noise is eliminated by using a reconstruction frame calibration mechanism, and lossless restoration independent of a coding format is realized; through dual verification and a rolling key mechanism, splicing attacks and frame extraction attacks are effectively prevented, and the integrity and security of an evidence chain are ensured.

The invention discloses a restoration method and device based on dynamic call ticket abnormity and electronic equipment, and the method comprises the steps: firstly obtaining original call ticket data, then carrying out the preprocessing of the original call ticket data, obtaining structured data, carrying out the data fusion based on the structured data, obtaining multi-source data, carrying out the abnormity detection of the multi-source data through a first preset mode, and obtaining a dynamic call ticket abnormity result. The method comprises the steps of obtaining first abnormal information, classifying the first abnormal information through a first preset model to obtain a classification result, processing the classification result based on a first preset strategy to obtain a content-level repair scheme, and finally processing the content-level repair scheme based on a second preset model to obtain a repair action sequence. And the abnormal ticket is automatically repaired based on the repairing action sequence, so that waste of human resources is avoided.

The invention relates to the technical field of data processing, and provides a repairing method, device and equipment for bill generation information and a readable storage medium. The method comprises the following steps: acquiring a bill generation information restoration instruction; the bill generation information repairing instruction is obtained according to the parameter error information and the bill generation request under the condition that the bill generation information verification fails; according to parameter error information in the bill generation information repairing instruction and the bill generation request, obtaining a parameter error type and a semantic analysis result; generating an entity chain according to the parameter error type, the semantic analysis result and the bill, and determining a repair strategy; and according to the repair strategy, scheduling a corresponding parameter completion tool to execute parameter completion operation to obtain a repair result. By adopting the method, an unpredefined dynamic scene can be processed, the bill generation efficiency and the repair accuracy can be improved, and the repair accuracy is further improved by paying attention to the bill business logic association and the integrated business closed loop based on the bill generation entity chain.

The invention provides a dynamic difference point cloud-based scene restoration method, which comprises the following steps that: an intelligent agent acquires depth observation data of a target scene and depth observation data of a current scene, generates a difference point cloud representing object change of the current scene relative to the target scene, and dynamically updates the difference point cloud in an interaction process; after the intelligent agent executes an interaction action according to the object change in the difference point cloud, the effectiveness of the interaction action for reducing the difference between the current scene and the target scene is evaluated by calculating the variation of the difference point cloud before and after the interaction action is executed; and the intelligent agent performs priority scoring on candidate interaction actions acting on the difference point cloud, selects the candidate interaction action with the highest score for execution, and adjusts an action strategy in combination with a validity evaluation result to gradually realize scene restoration. According to the method, the detection precision and real-time performance of scene change are remarkably improved, and scene restoration is effectively realized.