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.