diff --git a/corelib/include/rtabmap/core/Memory.h b/corelib/include/rtabmap/core/Memory.h
index ea681700..4d43b650 100644
--- a/corelib/include/rtabmap/core/Memory.h
+++ b/corelib/include/rtabmap/core/Memory.h
@@ -76,6 +76,7 @@ public:
 			bool ignoreLoopIds = false,
 			double * dbAccessTime = 0) const;
 	void deleteLastLocation();
+	void deleteLocation(int locationId);
 	void rejectLastLoopClosure();
 
 	//getters
diff --git a/corelib/include/rtabmap/core/Rtabmap.h b/corelib/include/rtabmap/core/Rtabmap.h
index b0413d51..0a7cc607 100644
--- a/corelib/include/rtabmap/core/Rtabmap.h
+++ b/corelib/include/rtabmap/core/Rtabmap.h
@@ -87,6 +87,7 @@ public:
 	void parseParameters(const ParametersMap & parameters);
 	void setWorkingDirectory(std::string path);
 	void deleteLastLocation();
+	void deleteLocation(int locationId); // Only nodes in STM can be deleted
 	void rejectLastLoopClosure();
 
 	void adjustLikelihood(std::map<int, float> & likelihood) const;
diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
index b9faaf28..9658b920 100644
--- a/corelib/src/Memory.cpp
+++ b/corelib/src/Memory.cpp
@@ -1413,31 +1413,44 @@ void Memory::deleteLastLocation()
 	Signature * lastSignature = _lastSignature;
 	if(lastSignature)
 	{
-		UDEBUG("deleting last location %d", lastSignature->id());
-		const std::set<int> & neighbors = lastSignature->getNeighbors();
+		this->deleteLocation(lastSignature->id());
+	}
+}
+
+void Memory::deleteLocation(int locationId)
+{
+	UASSERT_MSG(this->isInSTM(locationId), "Deleting location outside the STM is not implemented!");
+	Signature * location = _getSignature(locationId);
+	if(location)
+	{
+		UDEBUG("deleting location %d", location->id());
+		const std::set<int> & neighbors = location->getNeighbors();
 		for(std::set<int>::const_iterator iter=neighbors.begin(); iter!=neighbors.end(); ++iter)
 		{
 			Signature * s = _getSignature(*iter);
 			if(s)
 			{
-				s->removeNeighbor(lastSignature->id());
-				_lastSignature = s;
+				s->removeNeighbor(location->id());
+				if(location == _lastSignature)
+				{
+					_lastSignature = s;
+				}
 			}
 		}
 
-		const std::set<int> & child = lastSignature->getChildLoopClosureIds();
+		const std::set<int> & child = location->getChildLoopClosureIds();
 		for(std::set<int>::const_iterator iter=child.begin(); iter!=child.end(); ++iter)
 		{
 			Signature * s = _getSignature(*iter);
 			if(s)
 			{
-				s->removeLoopClosureId(lastSignature->id());
-				s->setWeight(s->getWeight() + lastSignature->getWeight());
+				s->removeLoopClosureId(location->id());
+				s->setWeight(s->getWeight() + location->getWeight());
 			}
 		}
-		lastSignature->setWeight(0);
+		location->setWeight(0);
 
-		this->moveToTrash(lastSignature, false);
+		this->moveToTrash(location, false);
 	}
 }
 
diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
index 1b632a22..2da4177b 100644
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -1209,13 +1209,20 @@ void Rtabmap::setWorkingDirectory(std::string path)
 
 void Rtabmap::deleteLastLocation()
 {
-
 	if(_memory)
 	{
 		_memory->deleteLastLocation();
 	}
 }
 
+void Rtabmap::deleteLocation(int locationId)
+{
+	if(_memory)
+	{
+		_memory->deleteLocation(locationId);
+	}
+}
+
 void Rtabmap::rejectLastLoopClosure()
 {
 	UDEBUG("_lcHypothesisId=%d", _lcHypothesisId);
@@ -1236,7 +1243,6 @@ void Rtabmap::rejectLastLoopClosure()
 
 void Rtabmap::process(const cv::Mat & image, int id, std::multimap<int, cv::KeyPoint> * words)
 {
-
 	this->process(Image(image, id), words);
 }