3D Semantic VSLAM of Indoor Environment Based on Mask Scoring RCNN

Algorithm 2

Key frame selection algorithm.

	Input: last key frame;
	Output: new key frames;
(1)	if
(2)	(1) The interval between the current and previous key frame sequence is 30 frames;
(3)	(2) Local map thread is idle;
(4)	(3) The current frame and previous key frame share a build area threshold of less than 90%;
(5)	(4) The number of matching point pairs is at least 100;
(6)	Select as key frame;
(7)	else
(8)	discarded;
(9)	end if