In one implementation, a method of determining spatial relationships of point cloud clusters is performed at a device including one or more processors and non-transitory memory. The method includes obtaining a point cloud including a plurality of points, wherein the plurality of points includes a first cluster of points and a second cluster of points, wherein a particular point of the first cluster of points is associated with a characterization vector that includes a set of coordinates of the particular point in a three-dimensional space and a cluster identifier of the first cluster of points. The method includes determining a spatial relationship vector based on the volumetric arrangement of the first cluster of points and the second cluster of points, wherein the spatial relationship vector characterizes the spatial relationship between the first cluster of points and the second cluster of points. The method includes adding the spatial relationship vector to characterization vector.