A virtual reality (VR) system that includes a three-dimensional (3D) point cloud having a plurality of points, a VR viewer having a current position, a graphics processing unit (GPU), and a central processing unit (CPU). The CPU determines a field-of-view (FOV) based at least in part on the current position of the VR viewer, selects, using occlusion culling, a subset of the points based at least in part on the FOV, and provides them to the GPU. The GPU receives the subset of the plurality of points from the CPU and renders an image for display on the VR viewer based at least in part on the received subset of the plurality of points. The selecting a subset of the plurality of points is at a first frame per second (FPS) rate and the rendering is at a second FPS rate that is faster than the first FPS rate.