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Proposed is a novel key-frame selection method for the video-based structure-from-motion technique. This method consists of two main steps. First, unreliable features are eliminated by analysing the lifetimes of the tracked features. Next, an optimal set of key-frames is selected considering sufficient baselines between key-frames, data redundancy, and the avoidance of degeneracy. The proposed method is experimentally verified in terms of accuracy and stability for various video sequences.