1. A three-dimensional (3D) point cloud point of interest (POI) detection apparatus comprising: a processor and a memory, the memory containing instructions that, when executed by the processor, configure the processor as, a 3D point cloud data acquirer configured to acquire 3D point cloud data, a shape descriptor configured to generate a shape description vector, the shape description vector describing a shape of a surface in which a pixel point of a 3D point cloud and a neighboring point of the pixel point are located, and a POI extractor configured to, determine whether the pixel point is located within a vicinity of an edge or an edge point based on the shape description vector, and identify the POI based on an interest value calculated based on whether the pixel point is located within the vicinity of the edge or the edge point and the shape description vector, the interest value representing a degree of variation in the surface.