A method for learning-based point cloud geometry compression includes: given a source point cloud, regressing an aligned mesh that is driven by a set of parameters from a deformable template mesh, quantizing the set of parameters into a parameter bitstream, generating an aligned point cloud from the quantized parameters by mesh manipulation and mesh-to-point-cloud conversion, extracting features from both the source point cloud and the aligned point cloud based on sparse tensors including coordinates and features, the coordinates being encoded into a coordinate bitstream, warping the features of the aligned point cloud onto the coordinates of the source point cloud, obtaining residual features through feature subtraction, processing the residual features using an entropy model into a residual feature bitstream, and obtaining a reconstructed point cloud by processing the parameter bitstream, the coordinate bitstream and the residual feature bitstream.