About TSDF Fusion

[bscbje]

Regarding tsdf map fusion, there is no detailed explanation in the paper. I would like to ask a few questions, which I would be grateful for.

1. When building a map in real time, how is the size of TSDF map initialized?
2. Traditional TSDF algorithm can't deal with the occluded surface. Is there any special treatment for TSDF fusion in Tandem? What's the difference between it and conventional TSDF fusion?
   Thank you very much for your guidance！