This is some really cool information! I implemented a map-parsing algorithm that used a data structure that enabled neighboring cell access in constant time. It's biggest weakness is that very high-resolution occupancy maps take quite some time to render. I'm very inexperienced when it comes to sharing my coding projects with the world, so any feedback on the readability/accessibility of my repository would be greatly appreciated! https://github.com/dwrodri/LQTLD3