You have scale and rotational invariance only to a certain extent - how accurately your setup can depend. You have this because pools containing functions potentially overlap.
What you offer is certainly possible. You can always change your training data by adding noise, rotation, various scales, etc., to achieve this goal. However, your model will still not be fully rotatable-invariant. It is also possible to change the network to achieve the “right” goal. I'm sure you stumbled upon Tiled CNN during your research (if not, you should definitely read this article). They use TICA for bickering, finding invariant features in the process.
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