In order to work on density of point there is one method named
Gaussian Mixture Model
For me it is the same or similar to Kernel Density Estimation
These method are used to calculate Point Cloud density in Monté-Carlo analysis. I know there are used in spatial domain to calculate the density of debris falling on earth, there are many uses when density is changing greatly.
I put an example of that here
But I first calculate a surface associated to each point using Voronoi, each surface is converted to a density (1/m²) then this density is affected to the point, …