Before revision:  We model the buffering problem as an optimization problem by introducing a similarity metric between frames , and use an efficient greedy-like algorithm that drops the frame that results in the least loss to the quality of SLAM results.
After revision:  We model the buffering problem as an optimization problem by introducing a similarity metric between frames , and use an efficient greedy-like algorithm to discard the frames that have the least impact on the quality of SLAM results.