Jakob, J.Guthe, M.Benes, Bedrich and Hauser, Helwig2021-02-272021-02-2720211467-8659https://doi.org/10.1111/cgf.14177https://diglib.eg.org:443/handle/10.1111/cgf14177Processing point clouds often requires information about the point neighbourhood in order to extract, calculate and determine characteristics. We continue the tradition of developing increasingly faster neighbourhood query algorithms and present a highly efficient algorithm for solving the exact neighbourhood problem in point clouds using the GPU. Both, the required data structures and the NN query, are calculated entirely on the GPU. This enables real‐time performance for large queries in extremely large point clouds. Our experiments show a more than threefold acceleration, compared to state‐of‐the‐art GPU based methods including all memory transfers. In terms of pure query performance, we achieve over answered neighbourhood queries per millisecond for 16 nearest neighbours on common graphics hardware.nearest neighbourradius queriesbounding volume hierarchiesbvh optimizationacceleration structures10.1111/cgf.14177124-137