Lidar distortion reasons:
Radar one rotation time of a point to the same location of the difference results in the radar data do not match
Movement distortion removal:
laser radar data over time, to solve the lidar at a point in time at pose odometer coordinate system, then the laser timing data is also transformed into coordinates odometer
lower, most of the information in the laser odometer and change to the initial position and orientation coordinates of a point within this period of time, to obtain the corrected position and orientation information;
causes distortion: rotation lidar acquired point cloud one week old I considered to be no movement of the robot, while the actual robot is in motion