Re: Map update - node statistics, aging and delete

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-update-node-statistics-aging-and-delete-tp10663p10791.html

I think "add/remove nodes during navigation" is harder to debug and harder to recover from if something goes wrong. With the offline update approach, it would be safer in production as someone could double-check the final result before sending back the updated map to the robot. Updating online would also require more CPU to keep the map optimized after loop closures.

However, after many successful updates, one may become enough confident to do it online.