xxx See Guide Article: Dynamic Laser Power Adjustment during Sensor Operation xxx
Under certain circumstances, sensor users may notice what is referred to as a comet trail in their LiDAR data. A comet trail appears as a spray of virtual laser measurements traveling in a given direction from the sensor. This is a known phenomenon.
When an individual laser measures the distance to a very dark object, the laser's power may be increased to resolve the object. If it happens to be at maximum power and the next sample is of a highly reflective (even retro-reflective) object, the strong return will saturate the detector. The effect is similar to going from a dark room to bright sunlight. It takes a moment for your eyes to adjust. At first, any laser measurement isn't so accurate. The sensor may take several rotations to select the correct power level and thus report the correct distance.