Table 2 Comparison of solid-state single-photon LiDAR (SS-SPL) and conventional LiDARs
From: Super-dense point clouds acquired by an ultralight 10 g solid-state single photon LiDAR
Item | Symbol | Unit | |||||
|---|---|---|---|---|---|---|---|
Product | Velodyne VLP-16 | Ouster OS1 | LIVOX AVIA | LIVOX MID-360 | This work | ||
Year | 2014 | 2017 | 2020 | 2023 | 2025 | ||
Wavelength | \({\lambda }_{0}\) | nm | 903 | 865 | 905 | 905 | 825 |
Divergence angle \({e}^{-2}\) (fast) | \({\alpha }_{{{{\rm{f}}}}}\) | mrad | 3a | 2.6a | 0.51 | N/A | 0.44 |
Divergence angle \({e}^{-2}\) (slow) | \({\alpha }_{{{{\rm{s}}}}}\) | mrad | 3a | 2.6a | 4.76 | N/A | 1.2 |
FoV (V) | \({2\theta }_{{{\mathrm{TX}}}}\) | ° | 30 | 42.4 | 77.2 | 59 | 26 |
FoV (H) | \({2\varphi }_{{{\mathrm{TX}}}}\) | ° | 360 | 360 | 70.4 | 360 | 42 |
Range | m | 100 | 170 | 320 | 70 | 25 (Indoor) 7.5 (Outdoor) | |
Channel | 16 | 128 | N/A | 4 | 1 | ||
Maximum point cloud density | \({\rho }_{{{{\rm{p}}}},{{{\rm{t}}}}}\) | point s−1 | 300,000 | 5,242,880 | 240,000 | 200,000 | 3,160,000 |
Frame rate | \({f}_{{{\mathrm{frame}}}}\) | Hz | 10/20 | 10/20 | N/A | 10 | 156.6 |
Distance precision | \({\sigma }_{{{{\rm{D}}}}}\) | mm | 30 | 8 | 20 (20 m) | 20 (10 m) | 6.9 (3 m) 34 (10 m) |
Power consumption | W | 8 | 16 | 9 | 6.5 | 1.1b | |
Volume | cc | 600 | 347 | 360 | <250 | 11.7b | |
Weight | g | 830 | 430 | 498 | 265 | 9.97b |
