Ours is all environment, but for mobile AR and not autonomous driving. So our draw distances don&#x27;t need to be as fast and we have more persistence and more frames per meter than a driving system would have at 60km&#x2F;h. That said, if we weren&#x27;t restricted to mobile hardware we could probably get close to matching LIDAR speed and resolution.<p>The snow thing is interesting actually, but in a different way than you might think. Because we do loop closure it makes matching scenes that are temporally separated (eg. no snow vs snowy or occluded by leaves etc...) very hard.