The present application relates to the technical field of
computer vision, and discloses a
loop closure detection method, an apparatus, a device, and a storage medium. The method comprises: determining a
candidate key frame subset on the basis of an original image and a
loop closure detection
key frame database; when the
candidate key frame subset is not empty, respectively determining a target image set for constructing a
key frame and an original visual image; determining a matching
point cloud pair by means of the target image set and the original visual image on the basis of a dense reconstruction thread, and calculating a similarity error of the matching
point cloud pair; and performing
loop closure detection on the basis of the similarity error. By means of said method, after a
candidate key frame subset is determined, whether the candidate
key frame subset is empty is determined; if so, it indicates that no loop closure is present, and if not, a dense reconstruction thread is created, and a valid matching
point cloud pair is determined on the basis of the dense reconstruction thread; and then, loop closure detection is performed using an
image pair corresponding to the similarity error, thereby effectively improving the accuracy of loop closure detection, improving SLAM tracking accuracy.