Lidar motional compensation & PCD projection to images

I would like to know why points cloud can perfectly project on images after motional compensation.

In the introduction of ‘Sensor synchronization’, we know that the exposure of a camera is triggered when the top LIDAR sweeps across the center of the camera’s FOV. I thought the points cloud without motional compensation can project on the images more perfectly, because the timestamp of the exposureing camera is the closest to the points cloud when sweeping across the camera FOV center. However, the points cloud after motional compensation can still project on each camera images perfectly, if that is because the velocity is too slow to find any deviation?