# OpenTOFLidar
**Repository Path**: weiran23/OpenTOFLidar
## Basic Information
- **Project Name**: OpenTOFLidar
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: develop
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-04-09
- **Last Updated**: 2024-04-09
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## 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
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.**