RTX LiDAR produces ghosting / multi-frame accumulation effect in point cloud output

[qitongw92]

Description

Description

When using RT

X LiDAR in Isaac Sim, the published LiDAR data appears to contain residual points from previous frames, resulting in a ghosting / trailing effect in the point cloud. Visually, it looks as if multiple historical scans are being accumulated and published together instead of each frame representing only the current simulation step.

This behavior causes motion artifacts and makes the sensor output inconsistent with real LiDAR temporal behavior.

Isaac Sim version

5.1.0

Operating System (OS)

2204

GPU Name

RTX 5880

GPU Driver and CUDA versions

CUDA 12

Logs

No response

Additional information

No response

[holdmypanda]

same bug +1