Journal of Sensors / 2017 / Article / Alg 1

Research Article

Distributed Monocular SLAM for Indoor Map Building

Algorithm 1

Unique identifier for a key frame.
(1) procedure  GETUNIQUEID (key frame_id, node_id)
(2)id← SHIFTLEFT(node_id, 20)
(3)id id + keyframe_id
(4)return  id ▹ A globally unique identifier
(5) end procedure