OpenTOFLidar

# 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  


![](https://github.com/iliasam/OpenTOFLidar/blob/develop/Images/lidar_photo_small.jpg)  

That is how its components are assembled:  
<img src="https://github.com/iliasam/OpenTOFLidar/blob/develop/Mechanical/Assembly2.png" height="600">  
  
Structure schematic of this LIDAR:  
<img src="https://github.com/iliasam/OpenTOFLidar/blob/develop/Images/structure.png" width="600">  

Example of Hector SLAM result:  
<img src="https://github.com/iliasam/OpenTOFLidar/blob/develop/Images/slam_result_example.png" width="700">  
  
**Video** about OpenTOFLidar:
https://youtu.be/lTPH_Xa9yCk
  
**Please leave me feedback if you will be able to reproduce this project.**