LiDAR SLAM without overlap between consecutive scans

Hello,

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I was planning to apply SLAM over a MMS-point cloud but I realised that there is no overlap between consecutive scans (from consecutive poses of the sensor).

This is due to the fact that the LiDAR sensor used rotates around a horizontal axis, resulting in vertical scans (vertical lines parallel to each other) without overlap between them. However, the distance between the lines can be very short, e.g. around 1 cm when the MMS moves slowly.

In addition to this, every survey consist of 4 runs which are processed together and averaged. So, every area is revisited 3 times. In this sense, there is certainly overlap, but not among consecutive scans.

I was wondering if it could still be a way to perform SLAM in this situation.

Regards,

Pablo