In our setup, “lidar” is shorthand for 1D Time-of-Flight rangefinders — TF-Luna and the older TFMini. Not 2D scanning lidars; not RPLIDAR. The 1D approach trades coverage density for cost and weight, and combined with the perimeter VL53L0X array gives enough situational awareness for indoor navigation at a fraction of the cost.
The primary sensor is the TF-Luna A03 mounted on a servo for downward sweep. The TFMini family is older and similar — covered for completeness.
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