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