Loopback detection method and device, storage medium and computer program product

[0021] Embodiment 1 of the present application provides a loopback detection method, which is applied to electronic devices. In order to facilitate understanding, the application scenario of the loopback detection method provided in Embodiment 1 of the present application is described. Refer to figure 1 as shown, figure 1 It is a schematic diagram of a scene of a loop detection method provided in Embodiment 1 of the present application. figure 1 The shown scene includes an electronic device 101, and the electronic device 101 may be a device that executes the loopback detection method provided in Embodiment 1 of the present application.

[0022] The electronic device 101 may be a terminal device such as a smart phone, a tablet computer, a notebook computer, or a vehicle-mounted terminal, and the electronic device 101 may also be a network device such as a server. Of course, this is only an example, and does not mean that the application is limited thereto.

[0023] The electronic

[0047] Based on the method described in Embodiment 1 above, Embodiment 2 of the present application provides a loopback detection device for performing the method described in Embodiment 1 above. Refer to Figure 6 As shown, the loop detection device 60 includes:

[0048] An acquisition module 601, configured to acquire a data frame to be detected, where the data frame to be detected at least includes: point data in a single frame of point cloud data or a single frame of image data;

[0049] A search module 602, configured to determine a target data frame matching the data frame to be detected within a preset range based on the descriptor of the data frame to be detected;

[0050] Transformation module 603, for determining the transformation matrix between the data frame to be detected and the target data frame based on the matching network;

[0051] The confidence degree module 604 is used to transform the data frame to be detected by using the transformation matrix, input the

[0059] Based on the method described in Embodiment 1 above, Embodiment 3 of the present application provides an electronic device for performing the method described in Embodiment 1 above. Refer to Figure 7, shows a schematic structural diagram of an electronic device according to Embodiment 3 of the present application, and the specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0060] Such as Figure 7 As shown, the electronic device 70 may include: a processor (processor) 702 , a communication interface (Communications Interface) 704 , a memory (memory) 706 , and a communication bus 708 .

[0061] in:

[0062] The processor 702 , the communication interface 704 , and the memory 706 communicate with each other through the communication bus 708 .

[0063] The communication interface 704 is used for communicating with other electronic devices or servers.

[0064] The processor 702 is configured to execute the p