Karto SLAM Memory usage behaviour

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Hello all,

I am running Karto SLAM and I am monitoring the RES memory using the cpu_monitor package. What I am getting is the following figure. Now, I understand that the memory usage builds up. What I don't understand is the memory behavior after 70MB (it continually allocates and frees a lot of memory blocks). I have seen and verify this behavior related to Karto in a number of publications that I found online. However, I have not obtained any good explanation so far. Can you help?

Thank you!