README.md

February 6, 2026 · View on GitHub

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.

LDS_collection_labeled_v3

LDS_collection_bottom_v3

Comparison Table

ModelTypeScans per secPoints per secRange, MetersAccuracyPrice RetailService LifeSafetyMax Ambient, LuxLaser w/lenWeightTemp. RangeLinks
YDLIDAR X4Tria6-12Hz5KHz0.12-10~$70-90Class 12K793nm180gPDF
YDLIDAR X4 PROTria6-12Hz5KHz0.12-10~$75-1001,500hClass 140K793nm178gPDF
YDLIDAR X2/X2LTria5-8(6)Hz3KHz0.12-8@80%~$75-1001,500hClass 12K793nm126gPDF
YDLIDAR X3Tria5-10(8)Hz3KHz0.12-8~$65Class 12K793nm135g
YDLIDAR X3 PROTria6-12Hz4KHz0.12-8~$701,500h40KSpecs
YDLIDAR G1Tria5-12(7)Hz4-9KHz0.12-8@80%Class 120K793nm140gProduct
YDLIDAR G2Tria5-12(7)Hz5KHz0.12-16@80%Class 12K792nm185gProduct
YDLIDAR G4Tria5-12(7)Hz9KHz0.12-16@80%Class 12K792nm214gProduct
YDLIDAR G6Tria5-12(7)Hz10-18(18)KHz0.12-16@80%Class 12K792nm214gProduct
YDLIDAR SCLTriaArduino code
YDLIDAR T-mini PlusToF6-12(6)Hz4KHz0.05-4m@10%-12m@80%20mm$71Class 160K905nm45gProduct
YDLIDAR T-mini ProToF6-12(6)Hz4KHz0.02-4m@10%-12m@80%20mmClass 160K905nm45gProduct
XIAOMI LDS02RRTria5Hz1.8KHz0.15-6~$16Uses Neato protocol
LDS08RR aka Revo LDSTria5Hz?1.8KHz?0.15-6?Uses Neato protocol
XIAOMI LDS01RRToF5Hz0.15-9~$371,095hClass 1Spec ROS2, Win
Neato XV11Tria5Hz~2KHz0.15-6?~$35195gROS2 Char
SLAMTEC RPLIDAR A1M8-R4Tria1-10Hz8KHz0.15-6Class 1PDF
SLAMTEC RPLIDAR A1M8-R5Tria1-10(5.5)Hz8KHz0.15-12~$99Class 1785nm170gPDF
SLAMTEC RPLIDAR A2M12Tria5-15(10)Hz16KHz0.2-10B-12WClass 1785nmProduct
SLAMTEC RPLIDAR C1M1-R2ToF*8-12(10)Hz5KHz0.05-6@10%-12@70%Class 140K905nm110gProduct
SLAMTEC RPLIDAR A3M1Tria5-15(10)Hz16KHz0.2-10B-25WClass 1785nmProduct
SLAMTEC RPLIDAR S1ToF8-15(10)Hz9.2KHz0.1-10B-40WClass 1905nmDatasheet
SLAMTEC RPLIDAR S2ToF8-12(10)Hz5KHz0.05-6@10%-12@70%Class 140K905nm110gProduct
SLAMTEC RPLIDAR S3ToF10-20(10)Hz32KHz0.05-5@2%-15@10%-40@70%Class 180K905nm115gProduct
3irobotics Delta-2ATria4-10(6.2)Hz2-5KHz0.13-8@100%<1%@5m~$28Class 11K780nm175gSDK Protocol
3irobotics Delta-2BTria4..10Hz?5KHz?0.2..8?1K?Arduino code
3irobotics Delta-2GTria~5.25Hz?~1.9KHz?0.15-5?~$17SDK Protocol
3irobotix Delta-3ATria5-15Hz8KHz0.13-16m@80%$27050K hrsClass 11K780nm193.5gSee links below
Hitachi-LG HLS-LFCD2ToF5Hz1.8KHz0.12-3.5~$28Class 110K?Spec ROS2
Hitachi-LG HLS-LFCD3Tria5Hz2.3KHz0.16-8~$171,000hClass 125K?Spec ROS2
LDROBOT LD14Tria2..8(6)Hz2.3KHz0.15-5@4%-8@80%1,500hClass 130K?793nm131gDatasheet
LDROBOT LD14PTria2..8(6)Hz4KHz0.1-6@4%-8@80%~$352,200hClass 180K?793nm100gDatasheet Spec Protocol SDK/ROS2
LDROBOT LD08Tria2..10Hz2.3KHz0.16-8Class 125K?131gDatasheet
LDROBOT LD-AIRToF?5..13Hz4.5KHz0.02-12±45mm$12910K hrsClass 120K47gKickstarter 2021, Indiegogo, Driver
LDROBOT LD19ToF10Hz4.5KHz0.02-1210mm 3..12m10K hrsClass 130KDocs,SDK, Driver
LDROBOT LD06ToF5..13(10)Hz4.5KHz0.02-1215mm$9910K hrsClass 125K905nmDocs, Driver
LDROBOT LD19PTria2..10Hz2.3KHz0.16-8Class 125K?131gDatasheet
LDROBOT LD20
LDROBOT STL-27LToF10Hz21.6KHz0.03-25±15mm 0.03-2m$14260KProduct
LDROBOT STL-19PToF10Hz5KHz0.03-12±10mm 0.03-0.5mProduct, kit, SDK/ROS2
LDROBOT STL-26NToF6Hz5KHz0.04-12±8mm 0.1-0.5m80KProduct
LDROBOT STL-06PToF10Hz5KHz0.02-12±10mm 0.03-0.5mProduct
LDROBOT STL-26ToF6Hz5KHz0.1-12±10mm 0.03-0.5m60KProduct
YDLIDAR(?) MB-1R2TROS2 ROS1 3D
Camsense X1Tria5.2Hz2.08KHz0.1-8~$19Class 150KCode Product SDK
Camsense X2Tria5.2Hz3(2.08)KHz0.12-8Class 150K780nm EEL, 808nm VCSELProduct SDK
Camsense D2Tria5.6,6Hz2.08,3KHz0.15-8Class 150K780nm, 940nmProduct SDK
Camsense T2ToF5..8Hz5(4.688)KHz0.06-12Class 160K905nmProduct SDK
ORBBEC MS200ToF5..15(10)Hz4.5KHz0.03-12@90%$10010KhClass 140K40g905nmProduct
LDS-006 (Ecovacs)$23See links below

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

kaiaai/LDS library

kaiaai/LDS supports quite a few of these models.

Neato XV11

Xiaomi Mi 1st gen LDS02RR

Xiaomi Mi LDS01RR

SLAMTEC RPLIDAR A1

SLAMTEC RPLIDAR C1

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

YDLIDAR X3 PRO

  • Video (Arduino, ROS2)
  • How to use
  • connectors
    • LiDAR PCB: Molex PicoBlade 1.25mm 4-pin
    • serial adapter: JST PH 2.0mm 5-pin socket

YDLIDAR X3

  • How to use
  • connectors, pinout same as X3 PRO, X2/X2L
    • 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

LDROBOT LD14P

  • official product webpage
  • official datasheet Chinese
  • official SDK, ROS2 driver
  • 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
LD14P topLD14P bottom

LDROBOT LD08

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

LDROBOT LD06

Camsense

Camsense X1

Camsense X1 topCamsense X1 top side

3irobotix Delta-2A

Delta-2A topDelta-2A bottom
Delta-2A dimensionsDelta-2A pinout

3irobotix Delta-2B

3irobotix Delta-3A

3irobotix Delta-2G

LDS-006 (Ecovacs Deebot)

HLS-LFCD2

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

Star History

Star History Chart