I. Introduction
The rapid advancement of 3-D sensing and capturing technology has led to a growing interest in 3-D point clouds (3-D PCs) [1]. 3-D PCs play a crucial role in various fields, such as virtual reality, autonomous driving [2], [3], immersive communication, and 3-D modeling. 3-D PCs represent objects and scenes as a collection of points with geometry coordinates and attribute information, such as color, reflectance, and normal vectors [4], [5], [6]. Recent advances in rendering and sensing technologies have enabled the creation of highly detailed 3-D PCs that consist of millions or even billions of points. However, the storage and transmission of such large datasets present significant challenges. For instance, to store a static 3-D PC consisting of one million points, about million bits are required ( bits per point for the 3-D coordinates and bits per point for the color information). For a dynamic 3-D PC with a frame rate of 30 frames per second, the data rate can reach million bits per second, exceeding the bandwidth capacity of current networks. Therefore, efficient point cloud compression is essential to tackle these challenges.