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.

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

• Video (Arduino, ROS2)
• protocol
• Characterization report

Xiaomi Mi 1st gen LDS02RR

• Video (Arduino, ROS2)
• Unofficial specs, protocol, 3D model
• Unofficial 3D model

Xiaomi Mi LDS01RR

• Specs
• Specs, SDK, datasheet
• Evaluation, Windows viewer

SLAMTEC RPLIDAR A1

• A1 product datasheet, manual
  • All products resources - datasheets, manuals, viewer, protocols, dimensions, 3D models, SDK, ROS2, ROS1
• Video (Arduino, ROS2)

SLAMTEC RPLIDAR C1

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

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

LDROBOT LD08

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• as far as I understand, this model is old, superceded by LD14P

Camsense X1

• SHENZHEN CAMSENSE TECHNOLOGIES, camsense.cn
• Video (Arduino, ROS2)
• ROS2, ROS1, protocol, 3D model
• LDS product home page
• Camsense X1 with M5 Stack, Arduino code
• Python visualization code

3irobotix Delta-2A

• connector
  • LiDAR PCB: JST PH 2.0mm 5-pin socket
  • serial adapter: same type

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

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