OctoMap is an efficient probabilistic mapping framework to build occupancy maps from point clouds. representing 3D environments with cubic nodes in the octree. However. the map update policy in OctoMap has limitations. https://www.spidertattooz.com/Nora-NEFLINTW-R6MPW-6-E-Series-FLIN-Round-LED-Downlight-27K-30K-35K-40K-50K-Selectable-120V/