This is a very general and high level question. I am working on an app that scans buildings using on device LiDAR. One of my biggest issues is drift over time. What is the recommended approach by Apple to successfully scan for a long period of time and reduce drift error? I am currently storing frames at 20 fps with pose data and then trying to correct for pose errors off device. Maybe my approach is incorrect and would like to understand how Apple recommends to do about this. I am being overly general on purpose. Thank you for your help.
Recommended approach for LiDAR scanning buildings with very large floor plans
I would recommend to look into the RoomPlan API support for merging multiple smaller scans and see if this can fit your needs.
https://developer.apple.com/documentation/RoomPlan/merging-multiple-scans-into-a-single-structure
See also: https://developer.apple.com/documentation/roomplan/scanning-the-rooms-of-a-single-structure
For details on working with ARSession and RoomPlan.