[jefft255]

I (and OP for that matter) do mapping with sensors with accuracies that are around 2 cm. I don't know where you got that 1 cm requirement from. ICP/SLAM drift will happen even with a perfect sensor. It really depends on the scale of what you are trying to measure.

There are ways to work with dynamic environments in lidar SLAM: https://ieeexplore.ieee.org/abstract/document/6907397

[Dangeranger]

This was a back of the napkin estimation of accuracy based on some prior experience from several years ago. If you've used sensors with 2cm accuracy and they've performed well I would be interested to know whether they would perform as well if the survey area increased. For example, would they perform as well if the survey area is 10km^2 vs 1km^2 ? Is there a limit on their performance as the survey area increases?

[jefft255]

Well of course there is a limit, mapping at this scale absolutely requires GPS of loop-closure of some sort. Myself, working in forests, I mapped at most 100 meters by 100 meters but some people in my lab are going as large as 1 kilometer by 300 meters.