Hey there!
As part of my MSc dissertation at University of Oxford, I wrote and published two papers covering the characteristics of various binary serialization formats, including BSON and performing a space-efficiency benchmark, respectively.
Sharing them here in case anybody finds them interesting! The first paper explains how BSON works including an annotated hexadecimal example and the second compares BSON to various other popular serialization formats.
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A Survey of JSON-compatible Binary Serialization Specifications: https://arxiv.org/abs/2201.02089
All the best!