How to remove old cells or frame?

[DLonng C]

Hello

I work on Robotic Semantic Slam project. I have used octomap to build a global map incrementally. 

However, my project requires the construction of a local area map, which means that as the robot moves, the maps that have been constructed in the rear are continuously removed, and only the maps within a certain range of the current field of view are retained.

like this: 

My project is approaching the deadline. Hope to get some methods. Thank you very much! 

Best regards

XMU DLonng

[DLonng C]

I use octomap_generator to build global map.

https://github.com/floatlazer/semantic_slam  

DLonng C <dlo...@gmail.com> 于2020年7月4日周六 下午3:17写道：

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