Indirect methods for visual SLAM are gaining popularity due to their robustness to varying environments . ORB-SLAM2  is a benchmark method in this domain, however, the computation of descriptors in ORB-SLAM2 is time-consuming and the descriptors cannot be reused unless a frame is selected as a keyframe.
<clarity> Indirect methods for visual SLAM are gaining popularity due to their robustness to varying environments . ORB-SLAM2  is a benchmark method in this domain, however, the computation of descriptors in ORB-SLAM2 is time-consuming and the descriptors cannot be reused unless a frame is selected as a keyframe.
Indirect methods for visual SLAM are gaining popularity due to their robustness to varying environments . ORB-SLAM2 is a benchmark method in this domain, however, it consumes significant time for computing descriptors that never get reused unless a frame is selected as a keyframe.