The application discloses a loop detection method and device, equipment and storage medium, and relates to the technical field of
computer vision, and comprises the following steps: determining a
candidate key frame sub-set according to an original image and a loop detection
key frame database; when the
candidate key frame sub-set 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 based on a dense reconstruction thread according to the target image set and the original visual image, calculating a similarity error of the matching
point cloud pair; and performing loop detection according to the similarity error. In the foregoing manner, after the
candidate key frame sub-set is determined, it is judged whether the candidate
key frame sub-set is empty. If yes, it is indicated that there is no loop. If no, a dense reconstruction thread is opened, and an effectively matched matching
point cloud pair is determined based on the dense reconstruction thread. Then, an
image pair corresponding to the similarity error is used for loop detection, so that the accuracy of loop detection can be effectively improved, and the SLAM tracking precision is improved.