Mount LIDAR horizontally.
Don’t occlude the front or back of the sensor.
Don’t fly too high (<15 meters).
Drive or fly only around or over 3D structure. Flat fields will cause the algorithms to fail.
For vehicle mounted applications in particular:
a. Start data collects from a stopped position or a low velocity such a less than 15 mph.
b. If data collections are started and stopped in the same place, Kaarta has loop closure software which can correct for drift that occurs during data collection.