1. A method for compressing three-dimensional point cloud data comprising steps of: retrieving three-dimensional point cloud data; providing one or more three-dimensional grid voxels to enclose the three-dimensional point cloud data; dividing said three-dimensional grid voxels that contain point cloud data into a predetermined number of subvoxels; forming a binary data set by assigning one binary digit to each subvoxel containing said point cloud data and assigning the other binary digit to each subvoxel that does not contain said point cloud data; assigning one binary digit to said three-dimensional grid voxels that do not contain point cloud data; reshaping the three-dimensional grid voxels into a one-dimensional array; and storing information contained in said one-dimensional array, wherein the step of assigning one binary digit to said three-dimensional grid voxels that do not contain point cloud data includes a step of assigning value “0” to said three-dimensional grid voxels that do not have said point cloud data, wherein the step of storing information contained in said one-dimensional array includes steps of storing said value “0” according to number of times said value “0” consecutively, and assigning a negative sign to the number of times said value “0” appears consecutively.