Octomap fusion of different octrees

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Hi,

I wanted to know, if there is some way to fuse different octrees from different sensors. I tried to fuse data from different sensors and create one finale octree which works perfectly. But assuming that LiDAR produces too much data, which then has to be send to some kind of main station to create finale map, it's required pretty good wireless connection.

What I'm aiming for is to create octree on quadrotors which will reduce amount of data to be transferred. Then send those data to main station where finale fuse of all octrees will happen.

Is there already way to do it?

Thank you for answer.