Loopback detection method based on differential manifold

The invention provides a loopback detection method based on a differential manifold. The loopback detection method comprises the following steps: acquiring a camera pose corresponding to a key frame image through an input data set; obtaining a camera pose node corresponding to the camera pose, and introducing the camera pose node and the pose nodes in the neighborhood into a Frenet frame; under the Frenet framework, building a manifold tangent space of the camera pose nodes, and seeking the optimal robot orientation in the manifold tangent space; and according to the pose node information in the neighborhood, calculating the curvature and the deflection rate of a curve formed by a plurality of camera pose nodes in sequence, using the curve interpolation and fitting method of the camera pose nodes for approaching the motion track of the robot, and solving the smooth curve of the motion track of the robot in combination with the optimal orientation of the robot. The smoothness of the motion trail of the robot c