SLAM algorithm crush at certain distance from the starting point

[RiccardoSalvatori]

Hi, we are running the Point-LIO algorithm with the Unitree Lidar L1.
We get no problem with the pointcloud when we stay inside a range of 50m from the starting point, but as soon as we go
beyond the 50m the pointcloud gets completly wrong.

Is this a known problem? Are the there some configurations that needs to be adjusted?

Thanks

[lingbomeng]

This crush may due to the enviroment degeneration. You can try another different scene for validation.
Besides, try to lower the vibration of lidar as much as possible like mounting it on a large-mass mobile platform.