AI RESEARCH
PRISM: Color-Stratified Point Cloud Sampling
arXiv CS.CV
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ArXi:2601.06839v2 Announce Type: replace 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 chromatic diversity.