# On-the-Fly Object-aware Representative Point Selection in Point Cloud

arXiv: https://arxiv.org/abs/2508.01980 · HTML: https://mlsanity.com/paper/2508.01980/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 25 of its 37 references that are in the map.
- First posted on arXiv 4 Aug 2025.

## Builds on (most cited first, 25 of 25)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [From Points to Parts: 3D Object Detection from Point Cloud with Part-aware and Part-aggregation Network](https://mlsanity.com/paper/1907.03670/) (2019)
- [Point-Voxel CNN for Efficient 3D Deep Learning](https://mlsanity.com/paper/1907.03739/) (2019)
- [2DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Clouds](https://mlsanity.com/paper/2207.04397/) (2022)
- [Learning 3D Representations from 2D Pre-trained Models via Image-to-Point Masked Autoencoders](https://mlsanity.com/paper/2212.06785/) (2022)
- [Not All Points Are Equal: Learning Highly Efficient Point-based Detectors for 3D LiDAR Point Clouds](https://mlsanity.com/paper/2203.11139/) (2022)
- [Deep Learning for LiDAR Point Clouds in Autonomous Driving: A Review](https://mlsanity.com/paper/2005.09830/) (2020)
- [Deep Learning for Image and Point Cloud Fusion in Autonomous Driving: A Review](https://mlsanity.com/paper/2004.05224/) (2020)
- [SampleNet: Differentiable Point Cloud Sampling](https://mlsanity.com/paper/1912.03663/) (2019)
- [OctSqueeze: Octree-Structured Entropy Model for LiDAR Compression](https://mlsanity.com/paper/2005.07178/) (2020)
- [VoxelContext-Net: An Octree based Framework for Point Cloud Compression](https://mlsanity.com/paper/2105.02158/) (2021)
- [ReDAL: Region-based and Diversity-aware Active Learning for Point Cloud Semantic Segmentation](https://mlsanity.com/paper/2107.11769/) (2021)
- [Limits of End-to-End Learning](https://mlsanity.com/paper/1704.08305/) (2017)
- [RIDDLE: Lidar Data Compression with Range Image Deep Delta Encoding](https://mlsanity.com/paper/2206.01738/) (2022)

## Abstract (arXiv)

Point clouds are essential for object modeling and play a critical role in assisting driving tasks for autonomous vehicles (AVs). However, the significant volume of data generated by AVs creates challenges for storage, bandwidth, and processing cost. To tackle these challenges, we propose a representative point selection framework for point cloud downsampling, which preserves critical object-related information while effectively filtering out irrelevant background points. Our method involves two steps: (1) Object Presence Detection, where we introduce an unsupervised density peak-based classifier and a supervised Na"ive Bayes classifier to handle diverse scenarios, and (2) Sampling Budget Allocation, where we propose a strategy that selects object-relevant points while maintaining a high retention rate of object information. Extensive experiments on the KITTI and nuScenes datasets demonstrate that our method consistently outperforms state-of-the-art baselines in both efficiency and effectiveness across varying sampling rates. As a model-agnostic solution, our approach integrates seamlessly with diverse downstream models, making it a valuable and scalable addition to the 3D point cloud downsampling toolkit for AV applications.