Keyframe

In the context of SLAM, a keyframe is a selected frame from a sequence of frames (such as video frames) that serves as a reference point for the mapping and localization process.

This way, we don’t process every single new image that don’t add information.

PTAM seems to be the original paper that introduced the idea of Keyframes.

Keyframe selection is non-trivial. Don’t just take every 20 frames.

Being smart with which keyframes you are choosing is a big idea in modern SLAM approaches.

• This paper has the information Real-time monocular SLAM: Why filter?