A system, comprising: a controller (200, 226), the controller comprising one or more processors and memory configured to store one or more sets of program instructions, the one or more processors configured to execute the one or more sets of program instructions, the one or more sets of program instructions configured to cause the one or more processors to: receive a first set of three-dimensional perception sensor data with a first resolution taken at a first distance from an environment object at a first time; generate a first data message comprising an occupancy map octree, the OM octree generated from an occupancy map constructed from the first set of 3DPS data, the OM octree comprising a first number of levels selected based on the first resolution of the 3DPS data; transmit the first data message comprising the OM octree; receive a second set of 3DPS data with a second resolution taken at a second distance from the environment object at a second time, wherein the second resolution is higher than the first resolution, wherein the second distance is closer to the environment object than the first distance, wherein the second time follows the first time; generate a second data message comprising one or more updates to the OM octree based on the second set of 3DPS data, the one or more updates to the OM octree comprising a second number of levels selected based on the second resolution of the 3DPS data, wherein the second number of levels is greater than the first number of levels; each level of the first number of levels and the second number of levels comprising a plurality of nodes representing a plurality of voxels, each voxel of the plurality of voxels being occupied, free, or unknown; the OM octree representing a position of a select child node of the plurality of nodes relative to a select parent node of the plurality of nodes as a three-bit value; reduce a messaging size of the second data message comprising the one or more updates to the OM octree by quantizing the select child node to a single-bit value, the single-bit value indicating whether the select child node represents an occupied voxel or a free voxel; and transmit the second data message comprising the one or more updates to the OM octree. receive a first set of three-dimensional perception sensor data with a first resolution taken at a first distance from an environment object at a first time; generate a first data message comprising an occupancy map octree, the OM octree generated from an occupancy map constructed from the first set of 3DPS data, the OM octree comprising a first number of levels selected based on the first resolution of the 3DPS data; transmit the first data message comprising the OM octree; receive a second set of 3DPS data with a second resolution taken at a second distance from the environment object at a second time, wherein the second resolution is higher than the first resolution, wherein the second distance is closer to the environment object than the first distance, wherein the second time follows the first time; generate a second data message comprising one or more updates to the OM octree based on the second set of 3DPS data, the one or more updates to the OM octree comprising a second number of levels selected based on the second resolution of the 3DPS data, wherein the second number of levels is greater than the first number of levels; each level of the first number of levels and the second number of levels comprising a plurality of nodes representing a plurality of voxels, each voxel of the plurality of voxels being occupied, free, or unknown; the OM octree representing a position of a select child node of the plurality of nodes relative to a select parent node of the plurality of nodes as a three-bit value; reduce a messaging size of the second data message comprising the one or more updates to the OM octree by quantizing the select child node to a single-bit value, the single-bit value indicating whether the select child node represents an occupied voxel or a free voxel; and