A computer implemented method rasterizes point cloud data. A number of processor units rasterizes the point cloud data into rasterized layers based on classes in which each rasterized layer in the rasterized layers corresponds to a class in the classes. The number of processor units creates key value pairs from the rasterized layers. The number of processor units store the key value pairs in a key value store. According to other illustrative embodiments, a computer system and a computer program product for rasterizing point cloud data are provided.