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