Relocation frame determination method and device, vehicle and storage medium

The invention discloses a relocation frame determination method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a feature map; determining an image key frame of the current image, and determining a current difference degree matrix according to the global features of the image key frame and the global features of the map key frame; determining a relocation identifier according to a preset dynamic programming algorithm and the current difference degree matrix; and determining a target relocation frame in the feature map based on the relocation identifier. According to the technical scheme provided by the embodiment of the invention, the built feature map occupies less memory resources, the problem that the searching of the relocation frame in the global range of the semantic map consumes great computing resources is solved, the method and the device are suitable for scenes with high scene similarity and poor communication signals, and the accuracy and the robustne