1. A method of using a computer processor to improve the quality of a set of a three dimensional (3D) point cloud data representing a physical surface by detecting and filling null spaces, comprising: analyzing the set of 3D point cloud data with said computer processor to identify within said set the presence of a plurality of level 1 fractals, each defined by a plurality of voxels containing data points arranged in one of a plurality of three-dimensional patterns; and using said computer processor to selectively filling voxels in said 3D point cloud data with a first predetermined limited number of data points to increase a number of instances where level 2 fractals can be used for representing said 3D point cloud data, each level 2 fractal defined as a common plurality of said level 1 fractals having a common three-dimensional pattern, where said common plurality of level 1 fractals are also arranged in accordance with said common three dimensional pattern.