Similar frame detection method, system and device and readable storage medium

The invention discloses a similar frame detection method. According to the invention, the similar frames are determined in a real matching manner; A similar frame detection model constructed on the basis of a deep learning algorithm is introduced to perform preliminary detection on each pair of frame point clouds belonging to similar frames; In the preliminary detection stage, most of frame pointcloud pairs of non-similar frames can be filtered out, so that the number of frame point cloud pairs which really adopt a matching mode to determine the similar frames is greatly reduced. Compared with a mode of completely judging similar frames based on matching, the time consumption required by similar frame detection based on the model is relatively short, so that the matching time consumptioncan be greatly reduced, and the effective utilization rate of computing resources is improved. The invention further discloses a similar frame detection system and device and a computer readable storage medium which have the a