Researchers beat me at my own game: a faster, cheaper point-cloud collision checker

We're not done with point clouds

Two years after publishing a point-cloud collision-checking data structure, the author finds that Chen and Yeh's multilevel voxel table (MVT) outperforms it on every benchmark. The MVT replaces nearest-neighbor search trees with a sparse voxel grid, cutting construction time and memory use. The author reimplements it in Rust, adds mutability, and discovers that the optimal voxel width is around 10–20 cm, not the largest robot sphere as originally suggested. End-to-end motion planning sees a respectable speedup.