I read about the new obstacle association strategy for teblocalplanner. However I find very limited explanation about it on the site.

While understanding the difference between the two strategy, may I have a more in-depth explanation as to why the new strategy (for each teb pose, find relevant obstacle) is better then the old strategy?

I am guessing it's because the old strategy needs to compute optimistation to every single obstacles in the map which is more computational costly than only selecting those nearby the planned trajectory?