Hmm, yes, but not really.
Yes, because it's a centralized meta-control plane of/for BGP. But no, because after all IP address space is already centrally managed anyway: IANA -> RIRs (-> LIRs), but not really, because each AS decides what to do with RPKI data.
So it's much better than parsing RIPE plain text query reults, and it's the correct fix for hijackings.
"Real-world censorship resistance" is not in the threat model for the current Internet at the RPKI/BGP/RIR level, but it's very much in scope for high-level protocols like DNS, TLS, HTTP (as privacy concerns).
See https://tools.ietf.org/html/rfc4593 and https://tools.ietf.org/html/rfc7132 Regular ("in-band") DoS or tampering attacks on RPKI databases and CAs (certificate authorities) are of course taken into consideration - even by nation states. Though these particular RFCs don't offer a particularly systematic and ironclad solution. (The problem is punted to users: "just use (stale data and) caches, decide for yourself what to do if the central DB is unavailable".) Likely there's some other RFCs that offer better answers with - hopefully - more operational detail.
Building a truly global efficient/high-bandwidth/low-cost "infinitely" censorship resistant Internet is (very) hard. Currently traffic passes through various networks, those "autonomous systems" have the capability to direct (and filter, eg. null route) traffic. Source routing in theory might help with working-around bad AS-es, but even detecting such AS-es seems hard theoretically. And on top of all that there's the economic aspect. (How would the network/users/operators incentivize each other to work around bad ASes?)