Abstract: We present an algorithm for efficient transmission of 3D point cloud of a dynamically changing scene. The goal is to facilitate real time interaction with a remote scene. We detect changes to the point cloud efficiently and transmit only the changes. For parts of the cloud undergoing rigid transformation, that transformation is estimated and transmitted. We compare the performance of our approach to that of the state of the art. The parameters used to measure the performance include latency, frame throughput, compression ratio and quality.