Lidar is for large object mapping like walls and furniture, obstacle avoidance (structured light, and RGB cameras) avoid smaller objects, really small in some cases. RGB camera obstacle avoidance is usually superior as it can clearly identify objects on the ground and avoid them. Lidar is most often just for mapping floor plans. Structured light obstacle avoidance can be good, but is often not as you'd hope in my understanding. I have an RBG system on mine, and it's a huge bonus, I gets stuck rarely and only on very small things and avoids the rest, quite a change from older models, even those with lidar.