diff --git a/README.md b/README.md
index a37cd1cb3d..06a491a684 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 <img src="https://github.com/ethz-asl/maplab/wiki/logos/maplab_new.png" width="500">
 
+
+
 *Ubuntu 14.04+ROS indigo*, *Ubuntu 16.04+ROS kinetic* and *Ubuntu 18.04+ROS melodic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_nightly)](https://jenkins.asl.ethz.ch/job/maplab_nightly) 
 [![Documentation Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_docs&subject=docs)](https://jenkins.asl.ethz.ch/job/maplab_docs)
 
diff --git a/backend/map-resources/include/map-resources/resource-conversion.h b/backend/map-resources/include/map-resources/resource-conversion.h
index 14740a609a..d15b7a3e7a 100644
--- a/backend/map-resources/include/map-resources/resource-conversion.h
+++ b/backend/map-resources/include/map-resources/resource-conversion.h
@@ -128,6 +128,11 @@ void resizePointCloud(
     const size_t size, const bool has_color, const bool has_normals,
     const bool has_scalar, const bool has_labels, PointCloudType* point_cloud);
 
+uint32_t getPointStep(
+    const bool has_color, const bool /*has_normals*/, const bool has_scalar,
+    const bool has_labels);
+
+
 }  // namespace backend
 
 #include "map-resources/resource-conversion-inl.h"
diff --git a/backend/map-resources/src/resource-conversion.cc b/backend/map-resources/src/resource-conversion.cc
index abd64da0e1..d3221de4cd 100644
--- a/backend/map-resources/src/resource-conversion.cc
+++ b/backend/map-resources/src/resource-conversion.cc
@@ -744,6 +744,24 @@ void resizePointCloud(
   CHECK_EQ(hasLabelInformation(*point_cloud), has_labels);
 }
 
+uint32_t getPointStep(
+    const bool has_color, const bool /*has_normals*/, const bool has_scalar,
+    const bool has_labels) {
+  uint32_t offset = 0;
+
+  offset = 4u * sizeOfPointField(sensor_msgs::PointField::FLOAT32);
+  if (has_color) {
+    offset += 4u * sizeOfPointField(sensor_msgs::PointField::FLOAT32);
+  }
+  if (has_scalar) {
+    offset += 4u * sizeOfPointField(sensor_msgs::PointField::FLOAT32);
+  }
+  if (has_labels) {
+    offset += 4 * sizeOfPointField(sensor_msgs::PointField::UINT32);
+  }
+  return offset;
+}
+
 void createCameraWithoutDistortion(
     const aslam::Camera& camera,
     aslam::Camera::Ptr* camera_without_distortion) {
diff --git a/visualization/include/visualization/point-cloud-filter.h b/visualization/include/visualization/point-cloud-filter.h
new file mode 100644
index 0000000000..eb2785178b
--- /dev/null
+++ b/visualization/include/visualization/point-cloud-filter.h
@@ -0,0 +1,69 @@
+#ifndef VISUALIZATION_POINT_CLOUD_FILTER_H_
+#define VISUALIZATION_POINT_CLOUD_FILTER_H_
+
+#include <fstream>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <map-resources/resource-conversion.h>
+#include <pcl/common/transforms.h>
+#include <pcl_conversions/pcl_conversions.h>
+
+namespace visualization {
+
+template <typename T>
+using PclPointCloudPtr = typename boost::shared_ptr<pcl::PointCloud<T>>;
+
+template <typename T_input, typename T_output>
+static void applyRandomDownSamplingFilter(
+    const T_input& cloud_in, const size_t& n_points_to_keep,
+    T_output* cloud_filtered) {
+  CHECK_NOTNULL(cloud_filtered);
+  CHECK_GE(cloud_in.size(), n_points_to_keep);
+  const bool input_has_normals = backend::hasNormalsInformation(cloud_in);
+  const bool input_has_scalars = backend::hasScalarInformation(cloud_in);
+  const bool input_has_color = backend::hasColorInformation(cloud_in);
+  const bool input_has_labels = backend::hasLabelInformation(cloud_in);
+
+  backend::resizePointCloud(
+      n_points_to_keep, input_has_color, input_has_normals, input_has_scalars,
+      input_has_labels, cloud_filtered);
+
+  const bool output_has_scalars =
+      backend::hasScalarInformation(*cloud_filtered);
+  const bool output_has_color = backend::hasColorInformation(*cloud_filtered);
+  const bool output_has_labels = backend::hasLabelInformation(*cloud_filtered);
+
+  std::vector<size_t> sampling_indices(cloud_in.size());
+  std::iota(sampling_indices.begin(), sampling_indices.end(), 0u);
+  std::random_shuffle(sampling_indices.begin(), sampling_indices.end());
+  for (size_t idx = 0u; idx < n_points_to_keep; ++idx) {
+    Eigen::Vector3d point_C;
+    backend::getPointFromPointCloud(cloud_in, sampling_indices[idx], &point_C);
+    backend::addPointToPointCloud(point_C, idx, cloud_filtered);
+
+    if (input_has_color && output_has_color) {
+      resources::RgbaColor color;
+      backend::getColorFromPointCloud(cloud_in, sampling_indices[idx], &color);
+      backend::addColorToPointCloud(color, idx, cloud_filtered);
+    }
+
+    if (input_has_scalars && output_has_scalars) {
+      float scalar;
+      backend::getScalarFromPointCloud(
+          cloud_in, sampling_indices[idx], &scalar);
+      backend::addScalarToPointCloud(scalar, idx, cloud_filtered);
+    }
+
+    if (input_has_labels && output_has_labels) {
+      uint32_t label;
+      backend::getLabelFromPointCloud(cloud_in, sampling_indices[idx], &label);
+      backend::addLabelToPointCloud(label, idx, cloud_filtered);
+    }
+  }
+}
+
+}  // namespace visualization
+
+#endif  // VISUALIZATION_POINT_CLOUD_FILTER_H_
diff --git a/visualization/src/resource-visualization.cc b/visualization/src/resource-visualization.cc
index 2b08e7644f..7bf84cc3b6 100644
--- a/visualization/src/resource-visualization.cc
+++ b/visualization/src/resource-visualization.cc
@@ -1,8 +1,5 @@
 #include "visualization/resource-visualization.h"
 
-#include <chrono>
-#include <thread>
-
 #include <Eigen/Dense>
 #include <aslam/cameras/camera-factory.h>
 #include <aslam/cameras/camera-pinhole.h>
@@ -11,14 +8,17 @@
 #include <aslam/common/time.h>
 #include <aslam/frames/visual-frame.h>
 #include <aslam/frames/visual-nframe.h>
+#include <chrono>
 #include <depth-integration/depth-integration.h>
 #include <glog/logging.h>
 #include <maplab-common/progress-bar.h>
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
+#include <thread>
 #include <vi-map/vertex.h>
 #include <vi-map/vi-map.h>
 #include <visualization/common-rviz-visualization.h>
+#include <visualization/point-cloud-filter.h>
 #include <visualization_msgs/MarkerArray.h>
 #include <voxblox/core/common.h>
 
@@ -65,6 +65,23 @@ DEFINE_bool(
 
 namespace visualization {
 
+template <typename T_input>
+static void convertAndSubsampleIfNecessary(
+    const T_input& cloud_in, sensor_msgs::PointCloud2* ros_point_cloud) {
+  const uint32_t point_step = backend::getPointStep(
+      cloud_in.hasColor(), cloud_in.hasNormals(), cloud_in.hasScalars(),
+      cloud_in.hasLabels());
+  static const size_t kMargin = 1000u;
+  static const size_t kMaxRosMessageSize = 1000000000u;
+  static const size_t kMaxDataSize = kMaxRosMessageSize - kMargin;
+  if (cloud_in.size() * point_step > kMaxDataSize) {
+    const int n_max_points = kMaxDataSize / point_step;
+    applyRandomDownSamplingFilter(cloud_in, n_max_points, ros_point_cloud);
+  } else {
+    backend::convertPointCloudType(cloud_in, ros_point_cloud);
+  }
+}
+
 bool visualizeCvMatResources(
     const vi_map::VIMap& map, backend::ResourceType type) {
   CHECK_GT(FLAGS_vis_resource_visualization_frequency, 0.0);
@@ -279,7 +296,7 @@ void visualizeReprojectedDepthResource(
           }
 
           sensor_msgs::PointCloud2 ros_point_cloud_G;
-          backend::convertPointCloudType(points_G, &ros_point_cloud_G);
+          convertAndSubsampleIfNecessary(points_G, &ros_point_cloud_G);
 
           publishPointCloudInGlobalFrame(
               "" /*topic prefix*/, &ros_point_cloud_G);
@@ -304,7 +321,7 @@ void visualizeReprojectedDepthResource(
 
   // Publish accumulated point cloud in global frame.
   sensor_msgs::PointCloud2 ros_point_cloud_G;
-  backend::convertPointCloudType(accumulated_point_cloud_G, &ros_point_cloud_G);
+  convertAndSubsampleIfNecessary(accumulated_point_cloud_G, &ros_point_cloud_G);
   publishPointCloudInGlobalFrame("" /*topic prefix*/, &ros_point_cloud_G);
 
   // Only continue if we want to export the accumulated point cloud to file.
@@ -412,7 +429,7 @@ void visualizeReprojectedDepthResourcePerRobot(
 
     // Publish accumulated point cloud in global frame.
     sensor_msgs::PointCloud2 ros_point_cloud_G;
-    backend::convertPointCloudType(
+    convertAndSubsampleIfNecessary(
         accumulated_point_cloud_G, &ros_point_cloud_G);
     publishPointCloudInGlobalFrame(
         robot_name /*topic prefix*/, &ros_point_cloud_G);