Awesome 2D (low-cost) LiDAR list - specs, protocols, identification photos/videos, wiring, code, model versions, performance (TODO)
Please note - some of the information in the table below may be incorrect.
- some LiDAR/LDS models do not have official datasheets available publically 🫤
- some LiDAR/LDS models evolve over time - their specs change, while the model name remains unchanged
- maximum distance specification is often poorly defined (needs object reflectivity and ambient illumination specified)
- ambient light resistance is often poorly defined as well (needs object reflectivity, distance to object and ambient light spectrum)
Please also see this blog post and library.
Model | Type | Scans per sec | Points per sec | Range, Meters | Accuracy | Price Retail | Service Life | Safety | Max Ambient, Lux | Laser w/len | Weight | Links |
---|---|---|---|---|---|---|---|---|---|---|---|---|
YDLIDAR X4 | Tria | 6-12Hz | 5KHz | 0.12-10 | ~$70-90 | Class 1 | 2K | 793nm | 180g | |||
YDLIDAR X4 PRO | Tria | 6-12Hz | 5KHz | 0.12-10 | ~$75-100 | 1,500h | Class 1 | 40K | 793nm | 178g | ||
YDLIDAR X2/X2L | Tria | 5-8(6)Hz | 3KHz | 0.12-8@80% | ~$75-100 | 1,500h | Class 1 | 2K | 793nm | 126g | ||
YDLIDAR X3 | Tria | 5-10(8)Hz | 3KHz | 0.12-8 | ~$65 | Class 1 | 2K | 793nm | 135g | |||
YDLIDAR X3 PRO | Tria | 6-12Hz | 4KHz | 0.12-8 | ~$70 | 1,500h | 40K? | Datasheet | ||||
YDLIDAR G1 | Tria | 5-12(7)Hz | 4-9KHz | 0.12-8@80% | Class 1 | 20K | 793nm | 140g | Product | |||
YDLIDAR G2 | Tria | 5-12(7)Hz | 5KHz | 0.12-16@80% | Class 1 | 2K | 792nm | 185g | Product | |||
YDLIDAR G4 | Tria | 5-12(7)Hz | 9KHz | 0.12-16@80% | Class 1 | 2K | 792nm | 214g | Product | |||
YDLIDAR G6 | Tria | 5-12(7)Hz | 10-18(18)KHz | 0.12-16@80% | Class 1 | 2K | 792nm | 214g | Product | |||
YDLIDAR SCL | Tria | |||||||||||
XIAOMI LDS02RR | Tria | 5Hz | 1.8KHz | 0.15-6 | ~$16 | Uses Neato protocol | ||||||
XIAOMI LDS01RR | ToF | 5Hz | 0.15-9 | ~$37 | 1,095h | Class 1 | Spec ROS2, Win | |||||
Neato XV11 | Tria | 5Hz | ~2KHz | 0.15-6? | ~$35 | 195g | ROS2 Char | |||||
SLAMTEC RPLIDAR A1M8-R4 | Tria | 1-10Hz | 8KHz | 0.15-6 | Class 1 | |||||||
SLAMTEC RPLIDAR A1M8-R5 | Tria | 1-10(5.5)Hz | 8KHz | 0.15-12 | ~$99 | Class 1 | 785nm | 170g | ||||
SLAMTEC RPLIDAR A2M12 | Tria | 5-15(10)Hz | 16KHz | 0.2-10B-12W | Class 1 | 785nm | Product | |||||
SLAMTEC RPLIDAR C1M1-R2 | ToF* | 8-12(10)Hz | 5KHz | 0.05-6@10%-12@70% | Class 1 | 40K | 905nm | 110g | Product | |||
SLAMTEC RPLIDAR A3M1 | Tria | 5-15(10)Hz | 16KHz | 0.2-10B-25W | Class 1 | 785nm | Product | |||||
SLAMTEC RPLIDAR S1 | ToF | 8-15(10)Hz | 9.2KHz | 0.1-10B-40W | Class 1 | 905nm | Datasheet | |||||
SLAMTEC RPLIDAR S2 | ToF | 8-12(10)Hz | 5KHz | 0.05-6@10%-12@70% | Class 1 | 40K | 905nm | 110g | Product | |||
SLAMTEC RPLIDAR S3 | ToF | 10-20(10)Hz | 32KHz | 0.05-5@2%-15@10%-40@70% | Class 1 | 80K | 905nm | 115g | Product | |||
3irobotics Delta-2A | Tria | ~5.25Hz? | ~1.9KHz? | 0.15-5? | ~$28 | 1K? | SDK Protocol | |||||
3irobotics Delta-2B | Tria | 4..10Hz? | 5KHz? | 0.2..8? | 1K? | Arduino code | ||||||
3irobotics Delta-2G | Tria | ~5.25Hz? | ~1.9KHz? | 0.15-5? | ~$17 | SDK Protocol | ||||||
Hitachi-LG HLS-LFCD2 | ToF | 5Hz | 1.8KHz | 0.12-3.5 | ~$28 | Class 1 | 10K? | Spec ROS2 | ||||
Hitachi-LG HLS-LFCD3 | Tria | 5Hz | 2.3KHz | 0.16-8 | ~$17 | 1,000h | Class 1 | 25K? | Spec ROS2 | |||
LDROBOT LD14 | Tria | 2..8(6)Hz | 2.3KHz | 0.15-5@4%-8@80% | 1,500h | Class 1 | 30K? | 793nm | 131g | Datasheet | ||
LDROBOT LD14P | Tria | 2..8(6)Hz | 4KHz | 0.1-6@4%-8@80% | ~$35 | 2,200h | Class 1 | 80K? | 793nm | 100g | Datasheet Spec Protocol | |
LDROBOT LD08 | Tria | 2..10Hz | 2.3KHz | 0.16-8 | Class 1 | 25K? | 131g | Datasheet | ||||
LDROBOT LD20 | ||||||||||||
LDROBOT STL-27L | ToF | 10Hz | 21.6KHz | 0.03-25 | ±15mm 0.03-2m | 60K | Product | |||||
LDROBOT STL-19P | ToF | 10Hz | 5KHz | 0.03-12 | ±10mm 0.03-0.5m | Product | ||||||
LDROBOT STL-26N | ToF | 6Hz | 5KHz | 0.04-12 | ±8mm 0.1-0.5m | 80K | Product | |||||
LDROBOT STL-06P | ToF | 10Hz | 5KHz | 0.02-12 | ±10mm 0.03-0.5m | Product | ||||||
LDROBOT STL-26 | ToF | 6Hz | 5KHz | 0.1-12 | ±10mm 0.03-0.5m | 60K | Product | |||||
YDLIDAR(?) MB-1R2T | ROS2 ROS1 3D | |||||||||||
Camsense X1 | Tria | 5.2Hz | 2.08KHz | 0.1-8 | ~$19 | Class 1 | 50K | Code Product | ||||
Camsense X2 | Tria | 5.2Hz | 3(2.08)KHz | 0.12-8 | Class 1 | 50K | 780nm EEL, 808nm VCSEL | Product | ||||
Camsense D2 | Tria | 5.6,6Hz | 2.08,3KHz | 0.15-8 | Class 1 | 50K | 780nm, 940nm | Product | ||||
Camsense T2 | ToF | 5..8Hz | 5(4.688)KHz | 0.06-12 | Class 1 | 60K | 905nm | Product |
Notes:
- "Tria" means "triangulation"; ToF means "time-of-flight"
- Values in parenthesis indicates the default and/or recommended value
- Values like "@80%" refer to the target's reflectivity
- Video (Arduino, ROS2)
- Unofficial specs, protocol, 3D model
- Unofficial 3D model
- A1 product datasheet, manual
- All products resources - datasheets, manuals, viewer, protocols, dimensions, 3D models, SDK, ROS2, ROS1
- Video (Arduino, ROS2)
- outputs object reflectivity in addition to distance
- mating connector JST XH 5-pin (2.54mm)
- Video (Arduino, ROS2)
- connectors
- LiDAR PCB: Molex PicoBlade 1.25mm 4-pin
- serial adapter: JST PH 2.0mm 5-pin socket
- X2 and X2L differ slightly in mounting hole locations
- only X2L sold in USA, as far as I understand
- connectors
- LiDAR PCB: Molex PicoBlade 1.25mm 4-pin
- serial adapter: JST PH 2.0mm 5-pin socket
- deprecated, as far as I understand
- connectors
- LiDAR PCB: JST PH 2.0mm 8-pin socket
- serial adapter: JST PH 2.0mm 5-pin socket
- official product webpage
- official datasheet Chinese
- Video (Arduino, ROS2)
- specs, viewer, wiring diagram, protocol, manual, SDK, ROS2, 3D model link
- uses a 4-pin JST GH (1.25mm with latch) connector
- also comes as D200 evaluation kit (that includes the USB serial dongle)
- Arduino ESP32 wiring tutorial
- connectors
- LiDAR PCB: JST GH 1.25mm 4-pin socket
- serial adapter: Molex PicoBlade 1.25mm 4-pin
- official datasheet
- official product webpage
- as far as I understand, this model is old, superceded by LD14P
- Video (Arduino, ROS2)
- ROS2, ROS1, protocol, 3D model
- LDS product home page
- connector
- LiDAR PCB: JST PH 2.0mm 5-pin socket
- serial adapter: same type
- 2D LiDARs are usually sold retail on AliExpress, Amazon, eBay, online DIY robotics stores (robotshop.com, waveshare.com)
- Google for "buy such-and-such-LiDAR-model" to find 2D LiDAR retail sellers