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 extract a POI based on the shape description vector.