diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index b18e805c29..223e949033 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,7 +1,9 @@
 \page changelog Change Log
 
 # Version 2.11.3: UNRELEASED
-(none)
+- Changes in libraries:
+  - \ref mrpt_maps_grp
+    - mrpt::maps::COccupancyGridMap3D::insertObservation() now also handles mrpt::obs::CObservationPointCloud
 
 # Version 2.11.2: Released Oct 25th, 2023
 - Changes in libraries:
diff --git a/libs/maps/include/mrpt/maps/COccupancyGridMap3D.h b/libs/maps/include/mrpt/maps/COccupancyGridMap3D.h
index 0f81e67f09..97ea8d061e 100644
--- a/libs/maps/include/mrpt/maps/COccupancyGridMap3D.h
+++ b/libs/maps/include/mrpt/maps/COccupancyGridMap3D.h
@@ -17,6 +17,11 @@
 #include <mrpt/serialization/CSerializable.h>
 #include <mrpt/typemeta/TEnumType.h>
 
+namespace mrpt::obs
+{
+class CObservationPointCloud;
+}
+
 namespace mrpt::maps
 {
 /** A 3D occupancy grid map with a regular, even distribution of voxels.
@@ -80,6 +85,10 @@ class COccupancyGridMap3D
 		const mrpt::obs::CObservation3DRangeScan& o,
 		const mrpt::poses::CPose3D& robotPose);
 
+	void internal_insertObservationPointCloud(
+		const mrpt::obs::CObservationPointCloud& o,
+		const mrpt::poses::CPose3D& robotPose);
+
    public:
 	/** Constructor */
 	COccupancyGridMap3D(
@@ -185,7 +194,8 @@ class COccupancyGridMap3D
 	void insertPointCloud(
 		const mrpt::math::TPoint3D& sensorCenter,
 		const mrpt::maps::CPointsMap& pts,
-		const float maxValidRange = std::numeric_limits<float>::max());
+		const float maxValidRange = std::numeric_limits<float>::max(),
+		const std::optional<mrpt::poses::CPose3D>& robotPose = std::nullopt);
 
 	/** \sa renderingOptions */
 	void getAsOctoMapVoxels(mrpt::opengl::COctoMapVoxels& gl_obj) const;
@@ -238,6 +248,11 @@ class COccupancyGridMap3D
 
 		/** Decimation for insertPointCloud() or 2D range scans (Default: 1) */
 		uint16_t decimation{1};
+
+		/** If true, raytrace and fill empty cells. If false, only the final
+		 * (end point) of each ray will be marked as occupied.
+		 */
+		bool raytraceEmptyCells = true;
 	};
 
 	/** With this struct options are provided to the observation insertion
diff --git a/libs/maps/src/maps/COccupancyGridMap3D_insert.cpp b/libs/maps/src/maps/COccupancyGridMap3D_insert.cpp
index 015bd69e22..e1a967d474 100644
--- a/libs/maps/src/maps/COccupancyGridMap3D_insert.cpp
+++ b/libs/maps/src/maps/COccupancyGridMap3D_insert.cpp
@@ -13,6 +13,7 @@
 #include <mrpt/maps/CSimplePointsMap.h>
 #include <mrpt/obs/CObservation2DRangeScan.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
+#include <mrpt/obs/CObservationPointCloud.h>
 #include <mrpt/poses/CPose3D.h>
 
 using namespace mrpt::maps;
@@ -41,6 +42,12 @@ bool COccupancyGridMap3D::internal_insertObservation(
 		this->internal_insertObservationScan3D(*o, robotPose3D);
 		return true;
 	}
+	if (auto* o = dynamic_cast<const mrpt::obs::CObservationPointCloud*>(&obs);
+		o != nullptr)
+	{
+		this->internal_insertObservationPointCloud(*o, robotPose3D);
+		return true;
+	}
 
 	return false;
 
@@ -73,7 +80,7 @@ void COccupancyGridMap3D::internal_insertObservationScan2D(
 
 void COccupancyGridMap3D::insertPointCloud(
 	const mrpt::math::TPoint3D& sensorPt, const mrpt::maps::CPointsMap& pts,
-	const float maxValidRange)
+	const float maxValidRange, const std::optional<poses::CPose3D>& robotPose)
 {
 	MRPT_START
 
@@ -85,7 +92,10 @@ void COccupancyGridMap3D::insertPointCloud(
 	for (std::size_t idx = 0; idx < xs.size();
 		 idx += insertionOptions.decimation)
 	{
-		insertRay(sensorPt, mrpt::math::TPoint3D(xs[idx], ys[idx], zs[idx]));
+		auto pt = mrpt::math::TPoint3D(xs[idx], ys[idx], zs[idx]);
+		if (robotPose) pt = robotPose->composePoint(pt);
+
+		insertRay(sensorPt, pt);
 	}
 
 	MRPT_END
@@ -153,6 +163,13 @@ void COccupancyGridMap3D::insertRay(
 	// Skip if totally out of bounds:
 	if (m_grid.isOutOfBounds(cx, cy, cz)) return;
 
+	// The occupied cell at the end:
+	updateCell_fast_occupied(
+		trg_cx, trg_cy, trg_cz, logodd_observation_occupied,
+		logodd_thres_occupied);
+
+	if (!insertionOptions.raytraceEmptyCells) return;  // done!
+
 	// Use "fractional integers" to approximate float operations
 	//  during the ray tracing:
 	const int Acx = trg_cx - cx;
@@ -195,10 +212,23 @@ void COccupancyGridMap3D::insertRay(
 		if (m_grid.isOutOfBounds(cx, cy, cz)) break;
 	}
 
-	// And finally, the occupied cell at the end:
-	updateCell_fast_occupied(
-		trg_cx, trg_cy, trg_cz, logodd_observation_occupied,
-		logodd_thres_occupied);
+	MRPT_END
+}
+
+void COccupancyGridMap3D::internal_insertObservationPointCloud(
+	const mrpt::obs::CObservationPointCloud& o,
+	const mrpt::poses::CPose3D& robotPose)
+{
+	MRPT_START
+
+	if (!o.pointcloud) return;
+
+	const auto sensorPose3D = robotPose + o.sensorPose;
+
+	const auto sensorPt = mrpt::math::TPoint3D(sensorPose3D.asTPose());
+	insertPointCloud(
+		sensorPt, *o.pointcloud, insertionOptions.maxDistanceInsertion,
+		sensorPose3D);
 
 	MRPT_END
 }