{"id":21849368,"url":"https://github.com/iliasam/opentoflidar","last_synced_at":"2025-04-12T23:34:09.673Z","repository":{"id":43639269,"uuid":"231104194","full_name":"iliasam/OpenTOFLidar","owner":"iliasam","description":"Open Source TOF Lidar","archived":false,"fork":false,"pushed_at":"2024-02-22T15:54:19.000Z","size":23491,"stargazers_count":790,"open_issues_count":0,"forks_count":196,"subscribers_count":46,"default_branch":"develop","last_synced_at":"2025-04-12T23:33:53.495Z","etag":null,"topics":["diy","lidar","rangefinder","stm32","tdc","tof"],"latest_commit_sha":null,"homepage":"https://habr.com/ru/post/485574/","language":"C","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/iliasam.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2019-12-31T14:39:09.000Z","updated_at":"2025-04-12T07:54:17.000Z","dependencies_parsed_at":"2022-09-26T19:31:16.801Z","dependency_job_id":"11dcf738-288d-475e-b37a-9f9ddd0db1af","html_url":"https://github.com/iliasam/OpenTOFLidar","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/iliasam%2FOpenTOFLidar","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/iliasam%2FOpenTOFLidar/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/iliasam%2FOpenTOFLidar/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/iliasam%2FOpenTOFLidar/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/iliasam","download_url":"https://codeload.github.com/iliasam/OpenTOFLidar/tar.gz/refs/heads/develop","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":248647259,"owners_count":21139081,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["diy","lidar","rangefinder","stm32","tdc","tof"],"created_at":"2024-11-28T00:12:40.418Z","updated_at":"2025-04-12T23:34:09.636Z","avatar_url":"https://github.com/iliasam.png","language":"C","funding_links":[],"categories":[],"sub_categories":[],"readme":"# OpenTOFLidar\nOpen Hardware scanning laser rangefinder based on Time-of-Flight principle. No standalone laser rangefinder modules were used in this LIDAR, so its schematic and firmware are fully open.  \n \nParameters:  \n* Scanning speed: 15 scans/second, 19 scans/second with small accuracy fall at some points.\n* Resolution: ~ 1% of distance, but not better than ±2 cm\n* Minimal distance: 5 cm\n* Maximal distance: ~25 m (white surface)\n* Angular resolution: 0.5 deg\n* Measurements frequency: ~11 kHz\n* Scanning angular range: ~230 deg, can be increased by changing mechanics\n* Power: 0.1 A  at 5V (0.5 W). Start current can be bigger than 0.8 A.\n* Size: 50x50x120 mm\n\nLaser is OSRAM  SPL PL90_3 (905 nm), pulse width is near 20ns.  \nAPD (photosensor) is MTAPD-07-013 or AD500-8.  \n  \nPrice of the components of this LIDAR is ~94$ (without delivery, in 2020).  \nSee BOM with all calculations: \"TotalBOM.xlsx\".  \nThis LIDAR is using COTS (Commercial Off-The-Shelf) optical components - standard lenses for surveillance cameras.  \n  \nThere is a big article in Russian about this project: https://habr.com/ru/post/485574/   \nGoogle translation: https://translate.google.com/translate?hl=en\u0026sl=auto\u0026tl=en\u0026u=https%3A%2F%2Fhabr.com%2Fru%2Fpost%2F485574%2F  \n\n**See project Wiki for more information:** https://github.com/iliasam/OpenTOFLidar/wiki  \n\n\n![](https://github.com/iliasam/OpenTOFLidar/blob/develop/Images/lidar_photo_small.jpg)  \n\nThat is how its components are assembled:  \n\u003cimg src=\"https://github.com/iliasam/OpenTOFLidar/blob/develop/Mechanical/Assembly2.png\" height=\"600\"\u003e  \n  \nStructure schematic of this LIDAR:  \n\u003cimg src=\"https://github.com/iliasam/OpenTOFLidar/blob/develop/Images/structure.png\" width=\"600\"\u003e  \n\nExample of Hector SLAM result:  \n\u003cimg src=\"https://github.com/iliasam/OpenTOFLidar/blob/develop/Images/slam_result_example.png\" width=\"700\"\u003e  \n  \n**Video** about OpenTOFLidar:\nhttps://youtu.be/lTPH_Xa9yCk\n  \n**Please leave me feedback if you will be able to reproduce this project.**  \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Filiasam%2Fopentoflidar","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Filiasam%2Fopentoflidar","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Filiasam%2Fopentoflidar/lists"}