diff --git a/benchmarks/CMakeLists.txt b/benchmarks/CMakeLists.txt
index c73a786c28a..bf353c70f90 100644
--- a/benchmarks/CMakeLists.txt
+++ b/benchmarks/CMakeLists.txt
@@ -23,6 +23,11 @@ PCL_ADD_BENCHMARK(filters_voxel_grid FILES filters/voxel_grid.cpp
                   ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
                             "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
 
+PCL_ADD_BENCHMARK(filters_radius_outlier_removal FILES filters/radius_outlier_removal.cpp
+                  LINK_WITH pcl_io pcl_filters
+                  ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
+                            "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
+
 PCL_ADD_BENCHMARK(search_radius_search FILES search/radius_search.cpp
                   LINK_WITH pcl_io pcl_search
                   ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd"
diff --git a/benchmarks/filters/radius_outlier_removal.cpp b/benchmarks/filters/radius_outlier_removal.cpp
new file mode 100644
index 00000000000..66aa527d1a5
--- /dev/null
+++ b/benchmarks/filters/radius_outlier_removal.cpp
@@ -0,0 +1,84 @@
+#include <pcl/filters/radius_outlier_removal.h>
+#include <pcl/io/pcd_io.h> // for PCDReader
+
+#include <benchmark/benchmark.h>
+
+static void
+BM_RadiusOutlierRemoval(benchmark::State& state, const std::string& file)
+{
+  // Perform setup here
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PCDReader reader;
+  reader.read(file, *cloud);
+
+  pcl::RadiusOutlierRemoval<pcl::PointXYZ> ror;
+  ror.setInputCloud(cloud);
+  ror.setRadiusSearch(0.02);
+  ror.setMinNeighborsInRadius(14);
+
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxelized(
+      new pcl::PointCloud<pcl::PointXYZ>);
+  for (auto _ : state) {
+    // This code gets timed
+    ror.filter(*cloud_voxelized);
+  }
+}
+
+static void
+BM_RadiusOutlierRemovalOpenMP(benchmark::State& state, const std::string& file)
+{
+  // Perform setup here
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
+  pcl::PCDReader reader;
+  reader.read(file, *cloud);
+
+  pcl::RadiusOutlierRemoval<pcl::PointXYZ> ror;
+  ror.setInputCloud(cloud);
+  ror.setRadiusSearch(0.02);
+  ror.setMinNeighborsInRadius(14);
+  ror.setNumberOfThreads(0);
+
+  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxelized(
+      new pcl::PointCloud<pcl::PointXYZ>);
+  for (auto _ : state) {
+    // This code gets timed
+    ror.filter(*cloud_voxelized);
+  }
+}
+
+int
+main(int argc, char** argv)
+{
+  constexpr int runs = 100;
+
+  if (argc < 3) {
+    std::cerr
+        << "No test files given. Please download `table_scene_mug_stereo_textured.pcd` "
+           "and `milk_cartoon_all_small_clorox.pcd`, and pass their paths to the test."
+        << std::endl;
+    return (-1);
+  }
+
+  benchmark::RegisterBenchmark(
+      "BM_RadiusOutlierRemoval_milk", &BM_RadiusOutlierRemoval, argv[2])
+      ->Unit(benchmark::kMillisecond)
+      ->Iterations(runs);
+
+  benchmark::RegisterBenchmark(
+      "BM_RadiusOutlierRemoval_mug", &BM_RadiusOutlierRemoval, argv[1])
+      ->Unit(benchmark::kMillisecond)
+      ->Iterations(runs);
+
+  benchmark::RegisterBenchmark(
+      "BM_RadiusOutlierRemovalOpenMP_milk", &BM_RadiusOutlierRemovalOpenMP, argv[2])
+      ->Unit(benchmark::kMillisecond)
+      ->Iterations(runs);
+
+  benchmark::RegisterBenchmark(
+      "BM_RadiusOutlierRemovalOpenMP_mug", &BM_RadiusOutlierRemovalOpenMP, argv[1])
+      ->Unit(benchmark::kMillisecond)
+      ->Iterations(runs);
+
+  benchmark::Initialize(&argc, argv);
+  benchmark::RunSpecifiedBenchmarks();
+}