In general, the higher the density the more compact is the material. Hence erosion resistance is higher because more energy is needed to separate the constituent of the sample. A less dense material could be easily eroded. Pressure, temperature and enthalpy are important thermodynamic parameters that dictate the erosion processes.
too many factors are affecting loss of material in order to justify looking at 1 to 1 relationship. Hardness is a good guide in dry service. However, brittlenss comes along with it, so in composite surfaces combining super hard carbides with viscous, resilient matrices, including polymer based ones could be a good combination. One of the best materials known to me is the so called "conforma-clad" from Kennemetal
higher the density, higher is the bonding forces between the layers of atoms and hence higher would be the erosion resistance
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