2023 way to do this:

ffmpeg  -i "video.mp4" -r 1 -loop 1 -i image.png -an -filter_complex "blend=difference:shortest=1,blackframe=90:32" -f null -

Notice the 90 there, if set to 100 it would only match equally, with lower numbers you get to set a fuzzy search criteria

Alternative bash script from 2019:

framepos.sh

#!/bin/bash
 
# function framepos()
 
# search image in video
# 1. extract frames from video file
# 2. wait for N frames
# 3. search pattern in N frames
# 4. return frame position
 
# why step 2?
# cos calling findimagedupes is slow
# and buffering makes search much faster by factor 8
 
# dependencies:
# 1. ffmpeg aka avconv
# 2. findimagedupes, with "old school" perl backend
 
# author: milahu
# license: public domain OR creative commons zero OR mit license
# warranty: none. never trust my code
# version: 2019-05-14
 
 
 
# usage:
#
# see sample code at end of this file
#
# if you want to detect clips like intros and outros
# you must find "good key frames"
# who have strong contrast to other frames
# [ideally no animation]
# and who are encoded similar across many files,
# so you can use a lower threshold value.
#
# from these key frames,
# you can calculate cutting positions,
# by manual "edge detection" [video and audio]
# or you can run blackdetect or silencedetect filters
# near the key frames.
#
# to make search faster,
# limit your "search space" to where you expect a match.
 
 
 
# todo:
# * loop seems to hang in some cases [done?]
# * search backward, from end of video or from position
# * replace findimagedupes with imagemagick?
# * get all matches
# * rewrite in python
#   --> use openCV?
#   --> integrate into pyLoad?
#   https://realpython.com/fingerprinting-images-for-near-duplicate-detection/#what-libraries-will-we-need
# * use "frame exact" positions, avoid rounding errors [done]
# * round float seconds to %.3f ?
# * rewrite time2sec (etc) functions as "pipeline filters"
#   so we can write: s=$(echo 01:23:45.678 | time2sec)
# * make calls to ffprobe more robust
#   for example dont grep in file comments
# * add audiodetect, to search for audio clips
#   similar to "voice/speech recognition"
#   problem: search too fuzzy? library overkill?
#   and: we need offset values = timestamps
#   https://stackoverflow.com/questions/47121644
#     audio-file-speech-recognition-in-python-location-of-word-in-seconds
#   https://github.com/mozilla/DeepSpeech
#   https://github.com/Uberi/speech_recognition
#     https://realpython.com/python-speech-recognition/
#   simple:
#     https://github.com/worldveil/dejavu
#     https://github.com/tyiannak/pyAudioAnalysis/wiki/5.-Segmentation
 
 
 
# context:
# https://superuser.com/questions/663731
#   find-video-file-position-using-an-image-match
# https://video.stackexchange.com/questions/11980
#   is-there-a-program-for-automatic-clip-creation
#   from-scene-detection-recognition
# https://github.com/Breakthrough/PySceneDetect
#   python + openCV
# ffmpeg scene detect
#   ffmpeg -i "$in" -filter:v "select='gt(scene,0.1)',showinfo" -f null -
# https://superuser.com/questions/378639
#   automatic-scene-detection
# kdenlive: scene recognition
 
 
 
# settings
 
# how much "similar" should matches be?
#threshold=90%
threshold=85%
 
# how long to wait for next extraction-progress check
# if your memory is limited, use smaller steps
step_duration=0.5
#step_duration=1
 
# compare at least N frames at once
# if your memory is limited, use smaller buffer
# average frame size: 6 MB for 1080p, 3 MB for 720p
frames_bufsize=100
 
#ffmpeg_cmd=avconv
ffmpeg_cmd=ffmpeg
ffprobe_cmd=ffprobe
 
# prefix for temp files. faster on a tmpfs filesystem
tmp_pre=/tmp/mv-$(date +%s).
 
# directory to save video files
# terminate with slash, or leave empty
v_out_prefix="video_out/"
 
 
 
# framepos()
# search images in video, print first position
# to search a "still image range"
# similar to the "blackdetect" filter in ffmpeg
#   set $4 to 1
#   and read "$time_first_frame $time_last_frame"
#   sample:
#   IFS=' ' read t1 t2 < <(framepos "$vid" "$img" 0 0 1)
 
function framepos() {
 
	V="$1" # video file
	T1="${2-0}" # time from
	T2="${3-0}" # time to
 
	R="${4-0}" # match still image range? 0 or 1
 
	# image files
	ARGV=("$@")
	I=("${ARGV[@]:4}") # image files = $5 $6 $7 ...
 
	#echo "V = $V" >&2
 
	# get frame rate
	fps=$(get_fps "$V")
 
	echo fps = $fps >&2
 
	dur=$(time2sec $(get_dur "$V"))
 
	echo "dur = $dur" >&2
 
	echo near T1 = $T1 >&2
	echo near T2 = $T2 >&2
 
	# get exact frame times
	# T_exact = round(T_near * fps) / fps
	# round(F) = int(F + 0.5)
	[[ "$T1" != '0' ]] && {
		if [[ "${T1:0:1}" = "-" ]]
		then
			#echo "got negative t1 $T1" >&2
			T1=$(echo $T1 $fps $dur \
				| awk '{printf "%.4f\n", int(($3 + $1) * $2 + 0.5) / $2}')
		else
			T1=$(echo $T1 $fps \
				| awk '{printf "%.4f\n", int($1 * $2 + 0.5) / $2}')
		fi
		echo exact T1 = $T1 >&2
	}
	[[ "$T2" != '0' ]] && {
		if [[ "${T2:0:1}" = "-" ]]
		then
			#echo "got negative t2 $T2" >&2
			T2=$(echo $T2 $fps $dur \
				| awk '{printf "%.4f\n", int(($3 + $1) * $2 + 0.5) / $2}')
		else
			T2=$(echo $T2 $fps \
				| awk '{printf "%.4f\n", int($1 * $2 + 0.5) / $2}')
		fi
		echo exact T2 = $T2 >&2
	}
 
	# extract frames. run in background
	# bmp format is faster than png or jpg
	echo extract frames to ${tmp_pre}frame-%04d.bmp >&2
	ff_args=''
	[[ "$T1" != '0' ]] && ff_args+=" -ss $T1 "
	[[ "$T2" != '0' ]] && ff_args+=" -to $T2 "
	# input seek = time arguments are before -i
	$ffmpeg_cmd \
		$ff_args -i "$V" \
		${tmp_pre}frame-%04d.bmp \
		2>/dev/null &
	pid=$!
 
	# print with custom delimiter
	# assert that filenames dont contain delimiter
	script_include=$(cat <<-'EOF'
		VIEW () {
			for f in "$@"
			do
				echo -n "$f"
				echo -ne "\t\t\t\t"
			done
			echo
		}
EOF
	)
 
	n2=0
	found_first=0
 
	#todo better?
	t_last=-1
	t=-2
 
	doing_extract=false
 
	while true
	do
 
		n=$(ls ${tmp_pre}frame-*.bmp 2>/dev/null | wc -l)
		#echo found $n frames in "${tmp_pre}"'frame-*.bmp' >&2
 
		#echo n = $n >&2
 
		$doing_extract || {
			# $doing_extract is false
			echo -n "extract ... " >&2
			doing_extract=true
		}
 
		(( $n == 0 )) && {
			kill -0 $pid 2>/dev/null || {
				# extract done
				echo debug found no match >&2
				break
			}
 
			kill -SIGCONT $pid
			sleep $step_duration
			continue
		}
		(( $n == 1 )) && {
			# only one frame extracted.
			# if ffmpeg is still extracting, this file is incomplete
			kill -0 $pid 2>/dev/null && {
				# extract running
				# last frame is incomplete --> $n-1 complete frames
				#echo extract continue with $(($n - 1)) frames >&2
				echo -n "$(($n - 1)) " >&2
				kill -SIGCONT $pid
				sleep $step_duration
				continue
			}
 
			n2=1
		}
		(( 1 < $n && $n <= $frames_bufsize )) && {
			# frame buffer not full
			# if extract is running, then wait before compare
			kill -0 $pid 2>/dev/null && {
				# extract running
				echo -n "$(($n - 1)) " >&2
				#echo extract continue with $(($n - 1)) frames >&2
				kill -SIGCONT $pid
				sleep $step_duration
				continue
			}
			n2=$(( $n - 1 ))
		}
		(( $n > $frames_bufsize )) && {
			#echo found $n frames
			# pause frame extraction to save space
			# extract is faster than compare
			echo $(($n - 1)) >&2
			#echo extract pause with $(($n - 1)) frames >&2
			kill -SIGSTOP $pid
 
			n2=$(( $n - 1 ))
		}
 
		echo compare $n2 frames from $(ls ${tmp_pre}frame-*.bmp | head -n 1) >&2
 
		#todo fail if $I is empty, or files not found
 
		doing_extract=false
 
		break_while=false
		for I_cur in "${I[@]}"
		do
			echo "search for $I_cur" >&2
 
			# we need the "real path" for findimagedupes
			pattern=$(readlink -f "$I_cur")
 
			# call findimagedupes
			# to find "visually similar images"
			res=$(
				ls ${tmp_pre}frame-*.bmp \
				| head -n $n2 \
				| xargs findimagedupes -t $threshold \
					-i "$script_include" "$pattern" \
				| grep -a "$pattern"
			)
 
			if [ ! -z "$res" ]
			then
				res=$(
					echo "$res" \
					| sed 's/\t\t\t\t/\n/g' \
					| grep -v '^$' \
					| grep -v "$pattern" \
					| sort \
					| head -n 1 \
					| sed -E 's/^.*frame-(.*?)\.bmp$/\1/'
				)
 
				# get frame time
				# note: frame numbers start with 1
 
				# matching frame:
				#echo "compare res get t, fps is $fps" >&2
				#t=$(
				#	echo $T1 $res $fps \
				#	| awk '{printf "%.4f\n", $1 + ( ( $2 - 1 ) / $3 ) }'
				#)
 
				# frame minus one:
				t=$(
					echo $T1 $res $fps \
					| awk '{printf "%.4f\n", $1 + ( ( $2 - 2 ) / $3 ) }'
				)
 
				echo "match t = $t" >&2
 
 
				# no range search
				(( $R == 0 )) \
				&& {
					# return
					echo $t
 
					# stop extracting
					kill -9 $pid 2>/dev/null
 
					# remove all temp files
					rm ${tmp_pre}frame-*.bmp
 
					break_while=true
					break
				} \
				|| {
					# range search
					(( $found_first == 0 )) \
					&& {
						# range start
						t_first=$t
					}
					found_first=1
				}
			fi
 
			#todo range search might be broken
			# range search and
			# found first frame and
			# current frame is no match
			(( $R == 1 && $found_first == 1 && $t == $t_last )) \
			&& {
				# t_last is last frame of still image range
 
				# return
				echo "$t_first $t_last"
 
				# stop extracting
				kill -9 $pid 2>/dev/null
 
				# remove all temp files
				rm ${tmp_pre}frame-*.bmp
 
				break_while=true
				break
			}
 
		done
 
		$break_while && break
 
		#todo combine range search and multi image?
		# only use first match as "range image"?
 
		t_last=$t
 
		# remove processed temp files
		(( $n2 > 0 )) \
		&& ls ${tmp_pre}frame-*.bmp | head -n $n2 | xargs rm
	done
}
 
 
 
# convert HH:MM:SS.NNN to float seconds
function time2sec () {
	date -u -d "1970-01-01 $1" +%s.%3N
}
 
# convert float seconds to HH:MM:SS.NNN
function sec2time () {
	date -u -d "0+$1sec" +%T.%3N
}
 
# get video duration
function get_dur() {
	$ffprobe_cmd -i "$1" 2>&1 | grep Duration | cut -d' ' -f4 | cut -d, -f1
}
 
# get video frame rate
function get_fps() {
	$ffprobe_cmd "$1" 2>&1 \
		| grep 'Video: ' \
		| head -n 1 \
		| sed -E 's/^.* (.*?) fps.*$/\1/' \
		| sed 's/^23.98$/23.976/'
	# ffprobe prints wrong fps, change 23.98 to 23.976
}
 
 
 
# sample use
 
# video + image from argv
# call this script like: ./framepos.sh video.mp4 image.png
v="$1"
i="$2"
 
# search range. negative = seek from end
a=-12
b=-8
 
# get frame position
t=$(framepos "$v" $a $b 0 "$i")
 
# multi image search
#t=$(framepos "$v" $a $b 0 "$i_1" "$i_2" "$i_3")
 
if [ ! -z "$t" ]
then
	v_out="${v_out_prefix}${v%.*}.cut.${v##*.}"
	echo "cut video to $v_out"
 
	# if you need absolute paths ...
	#script_dir=$(readlink -f "$0")
	#script_dir="${script_dir%/*}"
 
	# create dst directory
	if [[ ${v_out_prefix: -1} == "/" ]]
	then
		mkdir -p -v "$v_out_prefix"
	fi
	v_out_dir="${v_out%/*}"
	mkdir -p -v "$v_out_dir" 2>/dev/null
 
	# cut video
	# use '-map 0' to copy all streams
	$ffmpeg_cmd -i "$v" -ss 0 -to "$t" -c copy -map 0 "$v_out"
 
else
	echo error frame not found
fi

https://github.com/milahu/random/blob/master/framepos.sh

https://superuser.com/questions/663731/find-video-file-position-using-an-image-match