Apparatus and method for rendering point cloud using voxel grid

An apparatus for rendering point cloud using a voxel grid, comprising:

• a processor and a memory;
• wherein the processor and the memory are configured to implement:
• a voxel grid generator to generate a bounding box including all the point cloud and to divide the generated bounding box into the voxels to make the voxel grid;
• a texture plane generator to generate at least one texture plane to each voxel of the voxel grid;
• a texture image generator to orthogonally project points within each voxel of the voxel grid to the allocated texture planes to generate texture images;
• and
• a renderer to render each voxel of the voxel grid by selecting one of the texture planes within the voxel by using central position of the voxel and an eye position of a camera for rendering the voxel and by using the texture images corresponding to the selected texture plane.