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Open Source TOF Lidar
C C++ C# Assembly
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Latest commit 08f5c18 Mar 25, 2020


Type Name Latest commit message Commit time
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Firmware Removed mistake in schematic. Mar 1, 2020
Images Added slam result picture. Mar 25, 2020
Mechanical Small changes Mar 9, 2020
PCB Update Mar 24, 2020
PC_Utility Small changes. Mar 9, 2020
ROS/open_tof_lidar Added 720 points support for ROS driver. Jan 19, 2020
.gitignore Some improvements. Feb 24, 2020
LidarTotalBOM.xlsx Removed wrong IR filter from BOM. Mar 13, 2020 Update Mar 25, 2020


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.

Its parameters:

  • Scanning speed: 15 scans/second
  • 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, could be increased by changing mechanics
  • Power: 0.1 A at 5V (0.5 W). Start current could be bigger than 0.8 A.
  • Size: 50x50x120 mm

Price of the components of this LIDAR is ~114$ (without delivery).
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:
Google translation:

That is how its components are assembled:

Structure schematic of this LIDAR:

This repository is still under development.
See project's Wiki for more information:

Example of Hector SLAM result:

Video about OpenTOFLidar:

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

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