Spatio temporal voxel layer: Clearing voxels not seen but included in fov

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Hi,

i am trying out the spatio temporal voxel layer and it works nicely but until now I don't really understand how the clearing works. It seems like the voxels are removed after a certain time regardless if they are in the fov or not.

Which parameters influence the clearing (acceleration of voxel decay time)?

In the paper belonging to the stvl i found the equation: d(delta) = delta - 1/6 * f * delta^3 with delta is "voxel time given"? What is ment by that and why is not negative after one iteration?

Side question: If a voxel is deleted, the costmap is updated directly? (So points in the published voxel grid are always matching points in the cost map?)

Thank you for hints and help