Of course in an image sequence some new features will appear in every new image. If point matches are available that were not related to an existing point in the structure, then a new point can be initialized as in section 5.1.2.
After this procedure has been repeated for all the images, one disposes of camera poses for all the views and the reconstruction of the interest points. In the further modules mainly the camera calibration is used. The reconstruction itself is used to obtain an estimate of the disparity range for the dense stereo matching.