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https://github.com/kaiaai/awesome-2d-lidars

Awesome 2D LiDAR list - specs, protocols, wiring, code, identification photos/videos, performance evaluations
https://github.com/kaiaai/awesome-2d-lidars
List: awesome-2d-lidars
2d-lidar arduino awesome awesome-list awesome-lists lidar ros ros2
Last synced: 3 months ago
JSON representation
Awesome 2D LiDAR list - specs, protocols, wiring, code, identification photos/videos, performance evaluations
Host: GitHub
URL: https://github.com/kaiaai/awesome-2d-lidars
Owner: kaiaai
License: apache-2.0
Created: 2024-03-23T08:34:34.000Z (9 months ago)
Default Branch: main
Last Pushed: 2024-05-23T01:12:13.000Z (7 months ago)
Last Synced: 2024-05-23T01:38:16.433Z (7 months ago)
Topics: 2d-lidar, arduino, awesome, awesome-list, awesome-lists, lidar, ros, ros2
Homepage: https://kaia.ai/
Size: 15.4 MB
Stars: 20
Watchers: 2
Forks: 1
Open Issues: 1
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project

ultimate-awesome - awesome-2d-lidars - Awesome 2D LiDAR list - specs, protocols, wiring, code, identification photos/videos, performance evaluations. (Other Lists / Monkey C Lists)
README

        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](https://kaia.ai/blog/arduino-lidar-library/) and [library](https://github.com/kaiaai/LDS).

![LDS_collection_labeled_v3](./images/LDS_collection_labeled_v3.webp)

## 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](https://www.ydlidar.com/Public/upload/files/2024-02-01/YDLIDAR%20X4%20Data%20sheet%20V1.2(240125).pdf) |

| YDLIDAR X4 PRO       | Tria |  6-12Hz | 5KHz    | 0.12-10 | | ~$75-100 | 1,500h  | Class 1 | 40K    | 793nm | 178g | | [PDF](https://www.ydlidar.com/Public/upload/files/2024-02-01/YDLIDAR%20X4PRO%20Datasheet%20V1.1%20(240124).pdf) |

| YDLIDAR X2/X2L       | Tria |  5-8(6)Hz | 3KHz | 0.12-8@80% | | ~$75-100 | 1,500h | Class 1 | 2K  | 793nm | 126g | | [PDF](https://www.ydlidar.com/Public/upload/files/2024-02-01/YDLIDAR%20X2%20Data%20Sheet%20V1.2(240124).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](https://static.generation-robots.com/media/YDLIDARX4PRODatasheet.pdf) |

| YDLIDAR G1           | Tria |  5-12(7)Hz | 4-9KHz  | 0.12-8@80% |  | |         | Class 1 | 20K    | 793nm | 140g | | [Product](https://www.ydlidar.com/products/view/13.html) |

| YDLIDAR G2           | Tria |  5-12(7)Hz | 5KHz | 0.12-16@80% |    | |         | Class 1 | 2K     | 792nm | 185g | | [Product](https://www.ydlidar.com/products/view/1.html) |

| YDLIDAR G4           | Tria |  5-12(7)Hz | 9KHz | 0.12-16@80% |    | |         | Class 1 | 2K     | 792nm | 214g | | [Product](https://www.ydlidar.com/products/view/3.html) |

| YDLIDAR G6           | Tria |  5-12(7)Hz | 10-18(18)KHz | 0.12-16@80% | | |   | Class 1 | 2K     | 792nm | 214g | | [Product](https://www.ydlidar.com/products/view/4.html) |

| YDLIDAR SCL          | Tria |            |              |             | | |   |         |        |       |      | | [Arduino code](https://github.com/kaiaai/LDS) |

| YDLIDAR T-mini Plus  | ToF  |  6-12(6)Hz | 4KHz    | 0.05-4m@10%-12m@80% | 20mm | $71 |   | Class 1 | 60K | 905nm | 45g | | [Product](https://www.ydlidar.com/products/view/27.html) |

| YDLIDAR T-mini Pro   | ToF  |  6-12(6)Hz | 4KHz    | 0.02-4m@10%-12m@80% | 20mm |     |   | Class 1 | 60K | 905nm | 45g | | [Product](https://www.ydlidar.com/products/view/22.html) |

| 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](https://www.youyeetoo.com/blog/lds01rr-lidar-stdps01rmain-108) [ROS2, Win](https://github.com/iliasam/LDS01RR_lidar/tree/main) |

| Neato XV11           | Tria |   5Hz   | ~2KHz   | 0.15-6? | | ~$35     |         |         |        |       | 195g | | [ROS2](https://github.com/mjstn/xv_11_driver) [Char](https://www.diva-portal.org/smash/get/diva2:995686/FULLTEXT01.pdf) |

| SLAMTEC RPLIDAR A1M8-R4 | Tria |  1-10Hz | 8KHz | 0.15-6  | |          |         | Class 1 |        |       |      | | [PDF](https://www.slamtec.ai/wp-content/uploads/2023/11/LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf) |

| SLAMTEC RPLIDAR A1M8-R5 | Tria |  1-10(5.5)Hz | 8KHz | 0.15-12 | | ~$99     |         | Class 1 |        | 785nm | 170g | | [PDF](https://www.slamtec.ai/wp-content/uploads/2023/11/LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf) |

| SLAMTEC RPLIDAR A2M12 | Tria |  5-15(10)Hz | 16KHz | 0.2-10B-12W | |         |         | Class 1 |        | 785nm |      | | [Product](https://www.slamtec.ai/product/slamtec-rplidar-a2/) |

| SLAMTEC RPLIDAR C1M1-R2 | ToF* | 8-12(10)Hz | 5KHz | 0.05-6@10%-12@70% | | |      | Class 1 | 40K | 905nm | 110g | | [Product](https://www.slamtec.ai/product/slamtec-rplidar-c1/) |

| SLAMTEC RPLIDAR A3M1 | Tria | 5-15(10)Hz | 16KHz | 0.2-10B-25W | | |      | Class 1 | | 785nm |      | | [Product](https://www.slamtec.ai/product/slamtec-rplidar-a3/) |

| SLAMTEC RPLIDAR S1 | ToF | 8-15(10)Hz | 9.2KHz | 0.1-10B-40W | | |      | Class 1 | | 905nm |      | | [Datasheet](https://wiki.slamtec.com/display/SD/Overseas+Help+Center?preview=/83066883/83066894/LD601_SLAMTEC_rplidar_datasheet_S1_v1.7_en.pdf) |

| SLAMTEC RPLIDAR S2 | ToF | 8-12(10)Hz | 5KHz | 0.05-6@10%-12@70% | | |      | Class 1 | 40K | 905nm | 110g | | [Product](https://www.slamtec.ai/product/slamtec-rplidar-s2/) |

| SLAMTEC RPLIDAR S3 | ToF | 10-20(10)Hz | 32KHz | 0.05-5@2%-15@10%-40@70% | | |      | Class 1 | 80K | 905nm | 115g | | [Product](https://www.slamtec.ai/product/slamtec-rplidar-s3/) |

| 3irobotics Delta-2A  | Tria | ~5.25Hz?| ~1.9KHz?| 0.15-5? | | ~$28     |         |         | 1K?    | |      | | [SDK](https://github.com/CWRU-AutonomousVehiclesLab/Delta-2B-Lidar-SDK) [Protocol](https://github.com/NotBlackMagic/Delta-2G-LiDAR-Driver/blob/master/Documents/Delta-1A%20EN.pdf) |

| 3irobotics Delta-2B  | Tria | 4..10Hz?|  5KHz?  | 0.2..8? | |      |         |         | 1K?    | |      | | [Arduino code](https://wiki.iarduino.ru/page/delta-2b-lidar-esp32/) |

| 3irobotics Delta-2G  | Tria | ~5.25Hz?| ~1.9KHz?| 0.15-5? | | ~$17 |         |         |        | |      | | [SDK](https://lidar.oss-cn-beijing.aliyuncs.com/Lidar.rar) [Protocol](https://github.com/NotBlackMagic/Delta-2G-LiDAR-Driver/blob/master/Documents/Delta-1A%20EN.pdf) |

| Hitachi-LG HLS-LFCD2 | ToF  |   5Hz   | 1.8KHz  | 0.12-3.5| | ~$28 |         | Class 1 | 10K?   | |      | | [Spec](https://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_01/) [ROS2](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver) |

| Hitachi-LG HLS-LFCD3 | Tria |   5Hz   | 2.3KHz  | 0.16-8  | | ~$17 | 1,000h  | Class 1 | 25K?   |       |      | | [Spec](https://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_02/) [ROS2](https://github.com/ROBOTIS-GIT/ld08_driver) |

| LDROBOT LD14         | Tria | 2..8(6)Hz  | 2.3KHz  | 0.15-5@4%-8@80% | |         | 1,500h  | Class 1 | 30K?   | 793nm | 131g | | [Datasheet](https://robu.in/wp-content/uploads/2022/12/LD14.pdf) |

| LDROBOT LD14P        | Tria | 2..8(6)Hz  | 4KHz    | 0.1-6@4%-8@80%  | | ~$35    | 2,200h  | Class 1 | 80K?   | 793nm | 100g | | [Datasheet](https://www.ldrobot.com/images/2023/03/02/LDROBOT_LD14P%20DataSheet_CN_v0.4_Wlmrp6QT.pdf) [Spec Protocol](https://www.waveshare.com/wiki/D200_LiDAR_Kit) |

| LDROBOT LD08         | Tria | 2..10Hz | 2.3KHz  | 0.16-8  |                 |         |         | Class 1 | 25K?   | | 131g | | [Datasheet](https://www.ldrobot.com/images/2023/03/02/LDROBOT_LD08_Datasheet_CN_V1.3_aoMhAtqQ.pdf) |

| LDROBOT LD-AIR | ToF? | 5..13Hz | 4.5KHz  | 0.02-12 | ±45mm            | $129 | 10K hrs | Class 1 | 20K   | | 47g | | [Kickstarter 2021](https://www.kickstarter.com/projects/ldrobot/ld-air-lidar-360-tof-sensor-for-all-robotic-applications), [Indiegogo](https://www.indiegogo.com/projects/ld-air-lidar-tof-sensor-for-robotic-applications--3#/), [Driver](https://github.com/Myzhar/ldrobot-lidar-ros2) |

| LDROBOT LD19 | ToF | 10Hz | 4.5KHz  | 0.02-12 | 10mm 3..12m            | | 10K hrs | Class 1 | 30K | | | | [Docs,SDK](https://www.waveshare.com/wiki/DTOF_LIDAR_LD19), [Driver](https://github.com/Myzhar/ldrobot-lidar-ros2) |

| LDROBOT LD06 | ToF | 5..13(10)Hz | 4.5KHz  | 0.02-12 | 15mm            | $99 | 10K hrs | Class 1 | 25K   | 905nm | | | [Docs](https://www.inno-maker.com/product/lidar-ld06/), [Driver](https://github.com/Myzhar/ldrobot-lidar-ros2) |

| LDROBOT LD19P        | Tria | 2..10Hz | 2.3KHz  | 0.16-8  |                 |         |         | Class 1 | 25K?   | | 131g | | [Datasheet](https://www.ldrobot.com/images/2023/03/02/LDROBOT_LD08_Datasheet_CN_V1.3_aoMhAtqQ.pdf) |

| LDROBOT LD20         |      |         |         |         |                 |         |         |         |        | |     | | |

| LDROBOT STL-27L      | ToF  | 10Hz    | 21.6KHz | 0.03-25 | ±15mm 0.03-2m   | $142    |         |         | 60K    | |     | | [Product](https://www.ldrobot.com/ProductDetails?sensor_name=STL-27L) |

| LDROBOT STL-19P      | ToF  | 10Hz    | 5KHz    | 0.03-12 | ±10mm 0.03-0.5m |         |         |         |        | |     | | [Product](https://www.ldrobot.com/ProductDetails?sensor_name=STL-19P) |

| LDROBOT STL-26N      | ToF  | 6Hz     | 5KHz    | 0.04-12 | ±8mm 0.1-0.5m   |         |         |         | 80K    | |     | | [Product](https://www.ldrobot.com/ProductDetails?sensor_name=STL-26N) |

| LDROBOT STL-06P      | ToF  | 10Hz    | 5KHz    | 0.02-12 | ±10mm 0.03-0.5m |         |         |         |        | |     | | [Product](https://www.ldrobot.com/ProductDetails?sensor_name=STL-06P) |

| LDROBOT STL-26       | ToF  | 6Hz     | 5KHz    | 0.1-12  | ±10mm 0.03-0.5m |         |         |         | 60K    | |     | | [Product](https://www.ldrobot.com/ProductDetails?sensor_name=STL-26) |

| YDLIDAR(?) MB-1R2T   |      |         |         |         |                 |         |         |         |        | |     | | [ROS2](https://github.com/g0mb4/mb_1r2t_ros2) [ROS1](https://github.com/Vidicon/mb_1r2t_ros) [3D](https://github.com/simonllopez/radar_mb_1r2t-3D-model) |

| Camsense X1          | Tria | 5.2Hz   | 2.08KHz | 0.1-8   |                 | ~$19    |         | Class 1 | 50K    | |     | | [Code](https://github.com/Vidicon/camsense-X1) [Product](https://www.camsense.cn/en/robot/camsenseX1.html) |

| Camsense X2          | Tria | 5.2Hz   | 3(2.08)KHz | 0.12-8  |              |         |         | Class 1 | 50K    | | 780nm EEL, 808nm VCSEL | | [Product](https://www.camsense.cn/en/robot/camsenseX2.html) |

| Camsense D2          | Tria | 5.6,6Hz | 2.08,3KHz | 0.15-8   |              |         |         | Class 1 | 50K    | | 780nm, 940nm | | [Product](https://www.camsense.cn/en/robot/camsenseX2-3.html) |

| Camsense T2          | ToF  | 5..8Hz | 5(4.688)KHz | 0.06-12 |              |         |         | Class 1 | 60K    | | 905nm | | [Product](https://www.camsense.cn/en/robot/camsenseT2.html) |

| ORBBEC MS200         | ToF  | 5..15(10)Hz | 4.5KHz | 0.03-12@90% |          | $100    | 10Kh    | Class 1 | 40K    | 40g | 905nm | | [Product](https://www.orbbec.com/products/lidar/ms200/) |

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

- [Video](https://www.youtube.com/watch?v=kfk1Q0RSJpI) (Arduino, ROS2)

- [protocol](https://github.com/Xevel/NXV11/wiki)

- Characterization [report](https://www.diva-portal.org/smash/get/diva2:995686/FULLTEXT01.pdf)

## Xiaomi Mi 1st gen LDS02RR

- [Video](https://www.youtube.com/watch?v=gaDnZ4Msw0E) (Arduino, ROS2)

- Unofficial [specs, protocol, 3D model](https://github.com/Roborock-OpenSource/Cullinan)

- Unofficial [3D model](https://grabcad.com/library/lidar-lds02rr-1)

## Xiaomi Mi LDS01RR

- [Specs](https://www.youyeetoo.com/blog/lds01rr-lidar-stdps01rmain-108)

- [Specs, SDK, datasheet](https://www.youyeetoo.com/blog/lds01rr-lidar-stdps01rmain-108)

- [Evaluation, Windows viewer](https://github.com/iliasam/LDS01RR_lidar)

## SLAMTEC RPLIDAR A1

- [A1 product datasheet, manual](https://www.slamtec.ai/product/slamtec-rplidar-a1/)

  - [All products resources](https://www.slamtec.ai/downloads/) - datasheets, manuals, viewer, protocols, dimensions, 3D models, SDK, ROS2, ROS1

- [Video](https://www.youtube.com/watch?v=f8IYjfiXsMk) (Arduino, ROS2)

## SLAMTEC RPLIDAR C1

- outputs object reflectivity in addition to distance

- mating connector JST XH 5-pin (2.54mm)

  - [wiring diagram](https://www.slamtec.ai/wp-content/uploads/2023/11/SLAMTEC_rplidar_datasheet_C1_v1.0_en.pdf)

## YDLIDAR X3 PRO

- [Video](https://www.youtube.com/watch?v=_VuRCiO55gA) (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](https://www.ldrobot.com/ProductDetails?sensor_name=LD14P)

- official datasheet [Chinese](https://www.ldrobot.com/images/2023/03/02/LDROBOT_LD14P%20DataSheet_CN_v0.4_Wlmrp6QT.pdf)

- [Video](https://www.youtube.com/watch?v=ebbHqs4lW0U) (Arduino, ROS2)

- specs, viewer, wiring diagram, protocol, manual, SDK, ROS2, 3D model [link](https://www.waveshare.com/wiki/D200_LiDAR_Kit)

  - 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](https://kaia.ai/blog/tutorial-connect-ld14p-lidar/)

- connectors

  - LiDAR PCB: JST GH 1.25mm 4-pin socket

  - serial adapter: Molex PicoBlade 1.25mm 4-pin

  

|   |   |

|---|---|

| ![LD14P top](./images/ld14p_top.jpg) | ![LD14P bottom](./images/ld14p_bottom.jpg) |

## LDROBOT LD08

- official [datasheet](https://www.ldrobot.com/images/2023/03/02/LDROBOT_LD08_Datasheet_CN_V1.3_aoMhAtqQ.pdf)

- official product [webpage](https://www.ldrobot.com/ProductDetails?sensor_name=LD08)

- as far as I understand, this model is old, superceded by LD14P

## Camsense X1

- SHENZHEN CAMSENSE TECHNOLOGIES, [camsense.cn](https://www.camsense.cn/)

- [Video](https://www.youtube.com/shorts/kNBraxYKvvI) (Arduino, ROS2)

- [ROS2, ROS1, protocol, 3D model](https://github.com/Vidicon/camsense-X1)

- LDS product [home page](https://www.camsense.cn/robot/camsenseX1.html)

- Camsense X1 with M5 Stack, Arduino [code](https://github.com/yishii/LiDAR_Camsense_X1_M5Stack)

- Python visualization [code](https://github.com/IljaRukin/camsense_X1_lidar)

|   |   |

|---|---|

| ![Camsense X1 top](./images/Camsense_X1_top_side.webp) | ![Camsense X1 top side](./images/Camsense_X1_bottom.webp) |

## 3irobotix Delta-2A

- connector

  - LiDAR PCB: JST PH 2.0mm 5-pin socket

  - serial adapter: same type

 

|   |   |

|---|---|

| ![Delta-2A top](./images/Delta-2A_top.webp) | ![Delta-2A bottom](./images/Delta-2A_bottom.webp) |

## 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](https://www.aliexpress.us/item/3256806933155420.html) "Mini 360" LiDAR that uses Camsense X1-like protocol [code](https://github.com/devemin/UnknownLiDARMini_M5StackCore2)

## Star History

[![Star History Chart](https://api.star-history.com/svg?repos=kaiaai/awesome-2d-lidars&type=Date)](https://star-history.com/#kaiaai/awesome-2d-lidars&Date)