Map update - node statistics, aging and delete

Posted by akunin on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-update-node-statistics-aging-and-delete-tp10663.html

Hi Mathieu,
In order to support dynamic environment I thought to manage statistics for each signature (e.g. number of matches/inliers, succesfull loop-closures).
Then delete nodes that haven't contributed in loop-closures for some time and add new nodes in append mode.
Have you considered such approach? Any inputs for criteria?
thank you