A method for 2D regularized planar projection of a point cloud, comprising: obtaining original point cloud data; initializing a planar structure of 2D projection of the point cloud; calculating horizontal azimuth information of the point cloud based on the original point cloud data; and determining a mapping relationship between the original point cloud data and the planar structure of 2D projection based on the horizontal azimuth information, to obtain a planar structure of 2D regularized projection of the point cloud, wherein the determining the mapping relationship between the original point cloud data and the planar structure of 2D projection based on the horizontal azimuth information comprises: determining a row index of the original point cloud data in the planar structure of 2D projection; and determining a column index of the original point cloud data in the planar structure of 2D projection based on the horizontal azimuth information, wherein the determining the column index of the original point cloud data in the planar structure of 2D projection based on the horizontal azimuth information comprises: establishing a relationship between the horizontal azimuth information of the point cloud and original collection azimuth information of the point cloud, and obtaining a corresponding relational expression; calculating the original collection azimuth information of the point cloud based on the relational expression; and calculating the column index of the original point cloud data in the planar structure of 2D projection based on the original collection azimuth information. obtaining original point cloud data; initializing a planar structure of 2D projection of the point cloud; calculating horizontal azimuth information of the point cloud based on the original point cloud data; and determining a mapping relationship between the original point cloud data and the planar structure of 2D projection based on the horizontal azimuth information, to obtain a planar structure of 2D regularized projection of the point cloud, wherein the determining the mapping relationship between the original point cloud data and the planar structure of 2D projection based on the horizontal azimuth information comprises: determining a row index of the original point cloud data in the planar structure of 2D projection; and determining a column index of the original point cloud data in the planar structure of 2D projection based on the horizontal azimuth information, wherein the determining the column index of the original point cloud data in the planar structure of 2D projection based on the horizontal azimuth information comprises: establishing a relationship between the horizontal azimuth information of the point cloud and original collection azimuth information of the point cloud, and obtaining a corresponding relational expression; calculating the original collection azimuth information of the point cloud based on the relational expression; and calculating the column index of the original point cloud data in the planar structure of 2D projection based on the original collection azimuth information. determining a row index of the original point cloud data in the planar structure of 2D projection; and determining a column index of the original point cloud data in the planar structure of 2D projection based on the horizontal azimuth information, wherein the determining the column index of the original point cloud data in the planar structure of 2D projection based on the horizontal azimuth information comprises: establishing a relationship between the horizontal azimuth information of the point cloud and original collection azimuth information of the point cloud, and obtaining a corresponding relational expression; calculating the original collection azimuth information of the point cloud based on the relational expression; and calculating the column index of the original point cloud data in the planar structure of 2D projection based on the original collection azimuth information. establishing a relationship between the horizontal azimuth information of the point cloud and original collection azimuth information of the point cloud, and obtaining a corresponding relational expression; calculating the original collection azimuth information of the point cloud based on the relational expression; and calculating the column index of the original point cloud data in the planar structure of 2D projection based on the original collection azimuth information.