You guys talk of nice database solutions and full O/S systems. But if your autonomous mode has to depend on an O/S that takes
fourteen seconds to boot, then 20-30 seconds for PostGRE, mySQL, or some other crap DB to fully initialize to a usable state, then don't expect it to work in a timely manner. I deliver these type of systems as part of my projects for work, and quite honestly they never go on systems that go from cold boot to full use in under several minutes. Even teams who are very organized sometimes get stuck with a match or two where they're rushed and have 30 seconds to set the robot down and get behind the wall.
My advice -- hack the API and wrestle it into doing what you need it to do (point clouds). There's the real creds. Don't do it in the context of 'sticking it to Microsoft'; that's tacky and unproductive. Do it because it's quite literally the best technological way to do what you want to do.
Of course, this assumes you have a full field setup so you can adjust the point cloud to something that's remotely useful and non-noisy when facing a wall under sometimes blinding light.