US Patent 9317965 Uniform point cloud decimation

A method, apparatus, system, article of manufacture, and computer readable medium provide the ability to create a point cloud indexed file. A grid (of cells that are divided into subcells) is mapped over points in a point cloud dataset. An occupancy value, that indicates whether a subcell contains a point, is computed for each subcell. A surface area contribution factor is computed for each cell and identifies a count of subcells that are occupied divided by a total number of subcells. The surface area contribution factor for each cell and points for each cell are written to the point cloud indexed file.