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RadiusFPS: Efficient Farthest Point Sampling on CPUs and GPUs via Spherical Voxel Pruning
arXiv:2606.06255v1 Announce Type: new Abstract: Point clouds are a primary sensory representation for robotic perception, underpinning LiDAR-based autonomous driving, simultaneous localization and mapping (SLAM), and navigation. Within these pipelines, Farthest Point Sampling (FPS) is the most well-known downsampling operator, as its uniform coverage preserves the geometric structure on which downstream perception relies. However, the large time complexity of classical FPS scales poorly with...