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There is some research about this problem. Exactly using Octomap. There is no tutorial, but google for OctoSLAM and you will find a paper about it. e.g.:

http://sjriek.nl/publication/2013-ICUAS-OctoSLAMA3DMappingApproachtoSituationalAwarenessofUnmannedAerialVehicles.pdf

There is also a ROS implementation, based on Groovy as far as I remember, but no Tutorial, and you have to digg through the code yourself:

https://github.com/ChallenHB/OctoSlam

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