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That's essentially the ELI5: voxel layer tracks obstacles in 3d and obstacle layer in 2d. They use the same fundamental approaches otherwise, just 2D vs 3D. The 3D is obviously heaver, so its not worth using for literally planar sensors like 2D lidars. For anything 3D like 3D lidars, 2D lidars not mounted flat, RGBD cameras, etc its worth using the voxel layer.