An image processing method includes generating an initial representation of a three-dimensional environment using a three-dimensional array of elements having a first spatial resolution with respect to the three-dimensional environment; generating a distance field, DF, representation from the initial representation, the DF representation including a three-dimensional array of distance values having a second spatial resolution with respect to the three-dimensional environment; and applying a data compression process to the DF representation to generate a data-compressed DF representation.