how to make result better with Livox-70

[gongyue666]

Hi, I use Livox-70 and robot odometry to make a location function for my robot, as you know the pointcloud from Livox mid 70 is a random scan data, how can I make the location more precise and stable, the current drift phenomenon is more serious？If I trust my odom information more, what can I adjust that can increase its role in the positioning results？