https://github.com/iliasam/opentoflidar

Open Source TOF Lidar
https://github.com/iliasam/opentoflidar

diy lidar rangefinder stm32 tdc tof

Last synced: 6 months ago
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Open Source TOF Lidar

• Host: GitHub
• URL: https://github.com/iliasam/opentoflidar
• Owner: iliasam
• License: mit
• Created: 2019-12-31T14:39:09.000Z (almost 6 years ago)
• Default Branch: develop
• Last Pushed: 2024-02-22T15:54:19.000Z (over 1 year ago)
• Last Synced: 2025-04-12T23:33:53.495Z (6 months ago)
• Topics: diy, lidar, rangefinder, stm32, tdc, tof
• Language: C
• Homepage: https://habr.com/ru/post/485574/
• Size: 22.4 MB
• Stars: 790
• Watchers: 46
• Forks: 196
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# OpenTOFLidar

Open 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.  

 

Parameters:  

* Scanning speed: 15 scans/second, 19 scans/second with small accuracy fall at some points.

* Resolution: ~ 1% of distance, but not better than ±2 cm

* Minimal distance: 5 cm

* Maximal distance: ~25 m (white surface)

* Angular resolution: 0.5 deg

* Measurements frequency: ~11 kHz

* Scanning angular range: ~230 deg, can be increased by changing mechanics

* Power: 0.1 A  at 5V (0.5 W). Start current can be bigger than 0.8 A.

* Size: 50x50x120 mm

Laser is OSRAM  SPL PL90_3 (905 nm), pulse width is near 20ns.  

APD (photosensor) is MTAPD-07-013 or AD500-8.  

  

Price of the components of this LIDAR is ~94$ (without delivery, in 2020).  

See BOM with all calculations: "TotalBOM.xlsx".  

This LIDAR is using COTS (Commercial Off-The-Shelf) optical components - standard lenses for surveillance cameras.  

  

There is a big article in Russian about this project: https://habr.com/ru/post/485574/   

Google translation: https://translate.google.com/translate?hl=en&sl=auto&tl=en&u=https%3A%2F%2Fhabr.com%2Fru%2Fpost%2F485574%2F  

**See project Wiki for more information:** https://github.com/iliasam/OpenTOFLidar/wiki  

![](https://github.com/iliasam/OpenTOFLidar/blob/develop/Images/lidar_photo_small.jpg)  

That is how its components are assembled:  

  

  

Structure schematic of this LIDAR:  

  

Example of Hector SLAM result:  

  

  

**Video** about OpenTOFLidar:

https://youtu.be/lTPH_Xa9yCk

  

**Please leave me feedback if you will be able to reproduce this project.**