I. Introduction
Point clouds are an emerging three-dimensional data type and are often used in automated driving, virtual, and augmented reality. A point cloud is a set of three-dimensional coordinates with eventually assigned texture or color. Point clouds mainly show object surfaces in three-dimensional space. The points are not restricted to lie on integer coordinates. Furthermore, the points are stored unordered, i.e., no connection to the points’ neighborhood can be established from the stored point cloud. An example of such a color point cloud is given in Figure 1.