PRISM: Color-Stratified Point Cloud Sampling

• URL: http://arxiv.org/abs/2601.06839v1
• Date: Sun, 11 Jan 2026 10:07:03 GMT
• Title: PRISM: Color-Stratified Point Cloud Sampling
• Authors: Hansol Lim, Minhyeok Im, Jongseong Brad Choi,
• Abstract summary: PRISM is a novel color-guided stratified sampling method for RGB-LiDAR point clouds.<n>Our approach is motivated by the observation that unique scene features often exhibit chromatic diversity while repetitive, redundant features are homogeneous in color.
• Score: 1.7023041773480836
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present PRISM, a novel color-guided stratified sampling method for RGB-LiDAR point clouds. Our approach is motivated by the observation that unique scene features often exhibit chromatic diversity while repetitive, redundant features are homogeneous in color. Conventional downsampling methods (Random Sampling, Voxel Grid, Normal Space Sampling) enforce spatial uniformity while ignoring this photometric content. In contrast, PRISM allocates sampling density proportional to chormatic diversity. By treating RGB color space as the stratification domain and imposing a maximum capacity k per color bin, the method preserves texture-rich regions with high color variation while substantially reducing visually homogeneous surfaces. This shifts the sampling space from spatial coverage to visual complexity to produce sparser point clouds that retain essential features for 3D reconstruction tasks.

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