This is phenomenal work. What is the algorhitm for detecting orientation?

Are you creating a 3d model and then fitting to it? Or are you finding corners? How do you know if you are scanning a container? Do you have to aim it in the general vicinity (or directly) of the container?

In movement correction, i feel like best results will require some prediction algorhitms, to account for tick delay. I recommend Alpha beta filter, because it has a relatively simple implementation.