At one point I wrote a quad tree as part of the Map in SLAM to store probabilities of a point containing an obstacle on a 2d map, the thinking was I could use t

At one point I wrote a quad tree as part of the Map in SLAM to store probabilities of a point containing an obstacle on a 2d map, the thinking was I could use the quadtree to then navigate the robot. The reality was for the detail I needed at the scale I needed quad trees sort of sucked at this (university is a great place to try and fail at things, I learned a bunch!) I'd be really curious what is used now, if there's some shape estimations to collate points into blobs that are cheaper to store and navigate around. Been awhile since I read any books on robotics and navigation and SLAM though.