You can do this using "Verify", part of the "Computer-Aided Verification Set" license. It is used to compare "cloud" data in X-Y-Z format to a CAD model. We've recently used it to compare cloud data from a scanned part to our ideal Creo file with excellent results. There is little documentation on it (and what there is is from an old version - but it still works for Creo), here is the link on a quick tutorial:
http://support.ptc.com/WCMS/files/52553/en/flash/index.htm?im_dbkey=52553&icg_dbkey=362
Cheers,
Chris