In one embodiment, a system for removing LiDAR points is provided. An image is received from a camera and a plurality of points is received from a LiDAR sensor. The points are placed on the image based on coordinates associated with each point. The image is divided into a plurality of cells by placing a grid over the image. For each cell, a threshold is calculated based on the minimum distance between the points in the cell and the camera. The threshold may control how many points are allowed to remain in each cell. After calculating the thresholds, points are removed from each cell until the number of points in each cell do not exceed the threshold for the cell. The image and/or the reduced plurality of points are then used to provide one or more vehicle functions.