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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.

LDS_collection_labeled_v3

Comparison Table

Model Type Scans per sec Points per sec Range, Meters Accuracy Price Retail Service Life Safety Max Ambient, Lux Laser w/len Weight Temp. Range Links
YDLIDAR X4 Tria 6-12Hz 5KHz 0.12-10 ~$70-90 Class 1 2K 793nm 180g PDF
YDLIDAR X4 PRO Tria 6-12Hz 5KHz 0.12-10 ~$75-100 1,500h Class 1 40K 793nm 178g PDF
YDLIDAR X2/X2L Tria 5-8(6)Hz 3KHz 0.12-8@80% ~$75-100 1,500h Class 1 2K 793nm 126g PDF
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 Arduino code
YDLIDAR T-mini Plus ToF 6-12(6)Hz 4KHz 0.05-4m@10%-12m@80% 20mm $71 Class 1 60K 905nm 45g Product
YDLIDAR T-mini Pro ToF 6-12(6)Hz 4KHz 0.02-4m@10%-12m@80% 20mm Class 1 60K 905nm 45g Product
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 PDF
SLAMTEC RPLIDAR A1M8-R5 Tria 1-10(5.5)Hz 8KHz 0.15-12 ~$99 Class 1 785nm 170g PDF
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 LD-AIR ToF? 5..13Hz 4.5KHz 0.02-12 ±45mm $129 10K hrs Class 1 20K 47g Kickstarter 2021, Indiegogo, Driver
LDROBOT LD19 ToF 10Hz 4.5KHz 0.02-12 10mm 3..12m 10K hrs Class 1 30K Docs,SDK, Driver
LDROBOT LD06 ToF 5..13(10)Hz 4.5KHz 0.02-12 15mm $99 10K hrs Class 1 25K 905nm Docs, Driver
LDROBOT LD19P 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 $142 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
ORBBEC MS200 ToF 5..15(10)Hz 4.5KHz 0.03-12@90% $100 10Kh Class 1 40K 40g 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

Neato XV11

Xiaomi Mi 1st gen LDS02RR

Xiaomi Mi LDS01RR

SLAMTEC RPLIDAR A1

SLAMTEC RPLIDAR C1

  • outputs object reflectivity in addition to distance
  • mating connector JST XH 5-pin (2.54mm)

YDLIDAR X3 PRO

  • Video (Arduino, ROS2)
  • connectors
    • LiDAR PCB: Molex PicoBlade 1.25mm 4-pin
    • serial adapter: JST PH 2.0mm 5-pin socket

YDLIDAR X2/X2L

  • 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

YDLIDAR X4

  • 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

LDROBOT LD14P

  • 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
LD14P top LD14P bottom

LDROBOT LD08

  • official datasheet
  • official product webpage
  • as far as I understand, this model is old, superceded by LD14P

Camsense X1
Camsense X1 top Camsense X1 top side

3irobotix Delta-2A

  • connector
    • LiDAR PCB: JST PH 2.0mm 5-pin socket
    • serial adapter: same type
Delta-2A top Delta-2A bottom

Miscellaneous

  • 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

TODO

  • mystery "Mini 360" LiDAR that uses Camsense X1-like protocol code

Star History

Star History Chart