What is the mean of avoiding collisions using full 3D data?

[hanghoo]

Hello,
I don't know the meaning that avoid collisions using full 3D data.
I only know if you use move_base, the navigation map is OccupancyGrid. And it's 2-D grid map.
Can you explain the collisions using full 3D data?

[blueeaglex]

The project seem to be laid aside. What is going on for now?

[nlwmode]

In my understanding , when the collision could be taken place by 2d grid map(3 types of 2d maps) , then it could using ODE method to checking if it will collide in 3d map.