The work aims to propose a loop solution to balance the high precision and high efficiency of loop detection system. A new method based on combined image features and hierarchical nodes search algorithm was proposed. Firstly, a down-sampled binary global feature of the original image and improved ORB local feature were calculated and stored in the image feature database. Secondly, a hierarchical node search algorithm was introduced to search the database for the global feature most similar to the current image feature as a loopback candidate. Finally, the improved ORB features were applied to local feature matching to verify the candidate images and confirm the results of loop detection. The algorithm was validated on three different data sets, and the average time of each loop detection in the test was only 19 ms. The experimental results indicate that the algorithm has reached the advanced level in terms of operation efficiency, precision and recall.