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Looks like the effect of poor localization, which makes sense as you have pointed out that you did not use any external odometry. So it doesn't matter what kind of sensor you have, if you don't use a good localization method and carefully determined sensor offsets from the center of motion of the vehicle, then you won't get good maps.

I suggest finding the camera to vehicle IMU frame transform and then using the external odometry option mentioned in the tutorial.