Check out deck.gl, which is packaged with streamlit [0]. There is a PointCloudLayer [1] and deck can read gltf.

Also take a look at Streetscape.gl [2] which is designed for visualizing AV data

Disclaimer: I work on Uber's data vis team but not on AVs.

[0] https://streamlit.io/docs/api.html#streamlit.deck_gl_chart [1] https://deck.gl/#/documentation/deckgl-api-reference/layers/... [2] https://avs.auto/