[Python] Pre-defined object avoidance?

I have a LIDAR map of an area and would like to use this data to define 3D no-fly spaces that I could program my drone to automatically avoid. The purpose of this is to avoid heavy computer vision algorithms for visual object avoidance. I also need more speed than the cap of 3 m/s that the visual object avoidance noted in the docs. Can I accomplish this with MAVSDK or is this a much more difficult problem than I hoped? I am very new to MAVSDK & drones. If anyone has any suggestions on where to start with this, please let me know!