Introduction
LiDAR sensors have become a critical component across a wide range of industries. From autonomous vehicles and service robots to AGV forklifts, intelligent traffic systems, and automated production lines, LiDAR plays an irreplaceable role in the modern AI and automation technology chain.
Among the mainstream LiDAR products available today, two primary technical paths dominate environmental detection and mapping: Triangulation LiDAR and TOF (Time of Flight) LiDAR. While these terms may sound familiar, the in-depth differences in working principles, performance, costs, and real-world applicability remain unclear to many users.
In this guide, we’ll take a closer look at these two LiDAR technologies to help you understand their strengths, weaknesses, and best application scenarios.
Working Principles
Triangulation LiDAR
Triangulation-based LiDAR works by projecting a laser beam onto a target surface. The reflected light is captured by a linear CCD (charge-coupled device) sensor. Due to the fixed distance between the laser emitter and the receiver, objects at different distances cause the laser spot to shift position on the CCD sensor. Using trigonometric calculations, the exact distance to the object can be determined.
Pros: Simple theory, effective for short-range and high-precision applications.
Cons: Distance measurement becomes less accurate as the object moves farther away, due to diminishing angular differences on the CCD sensor.
TOF (Time of Flight) LiDAR
TOF LiDAR operates on a different principle. The sensor emits a laser pulse and records the time it takes for the light to travel to the target and back. Since the speed of light is constant, the measured time directly translates into distance.
While the concept is straightforward, real-world implementation presents significant technical challenges:
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Precision Timing: Measuring extremely short time intervals (as low as picoseconds) is necessary, demanding high-performance electronic circuits.
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Pulse Control: The laser must generate clean, sharp pulses with very fast rising edges to ensure accurate time measurements.
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Signal Processing: The returning signal may vary depending on target reflectivity (e.g., white vs. black surfaces), adding complexity to the detection and interpretation.
Performance Comparison
Measuring Distance
TOF LiDAR generally offers longer detection ranges compared to Triangulation LiDAR. While Triangulation LiDAR is limited in range due to its geometry and reduced resolution at long distances, TOF sensors excel in applications that require coverage of several meters or even tens of meters — such as autonomous vehicles and large-scale facility monitoring.
Sampling Rate
The sampling rate determines how many distance points the LiDAR can capture per second, impacting the clarity of the resulting point cloud.
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Triangulation LiDAR: Typically limited to below 20kHz.
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TOF LiDAR: Can reach up to 100kHz (e.g., the SIMINICS PAVO TOF LiDAR), providing higher resolution and finer environmental details.
Measurement Accuracy
Triangulation LiDAR offers high accuracy at short ranges, making it suitable for applications like robotic vacuum cleaners. However, its accuracy drops significantly at longer distances due to reduced angular separation.
TOF LiDAR maintains consistent accuracy over longer distances, often achieving centimeter-level precision even at 20 meters or more — ideal for AGVs, warehouse robots, and security systems.
Frame Rate (Rotation Speed)
In mechanically rotating LiDAR systems:
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Triangulation LiDAR units often operate at speeds below 20Hz due to their heavier, split-structure design.
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TOF LiDAR systems, like the PAVO model, achieve 30Hz to 50Hz thanks to a compact, semi-solid-state design, which reduces motor load and allows for faster scanning.
High frame rates enable better capture of fast-moving objects and minimize distortion when the sensor itself is moving.
Cost Considerations
Triangulation LiDAR sensors remain more affordable, especially for short-range indoor applications, with some models priced in the low hundreds of dollars.
By contrast, TOF LiDAR systems historically commanded much higher prices, often several thousand dollars per unit. However, the rise of domestic TOF LiDAR manufacturers in China has significantly reduced costs, closing the gap with Triangulation systems. With further technological advancements and production scaling, TOF LiDAR is expected to become even more cost-competitive.
Application Scenarios
| Triangulation LiDAR | TOF LiDAR |
|---|---|
| Best For: Short-range, indoor tasks (e.g., robot vacuums, compact service robots). | Best For: Long-range, indoor & outdoor tasks (e.g., AGVs, autonomous vehicles, surveillance). |
| Lower cost, suitable for environments with low dust and moisture. | Superior robustness (IP65+ protection), better for harsh or outdoor conditions like warehouses, factories, roads. |
| Limited in dusty or wet environments due to exposed moving parts. | Semi-solid design offers longer lifespan, higher durability. |
Featured Product Example: SIMINICS PAVO TOF LiDAR
The SIMINICS PAVO 2D TOF LiDAR exemplifies the advantages of TOF technology:
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Max Detection Distance: 20 meters
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Point Cloud Rate: 100kHz
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Angular Resolution: Up to 0.036°
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IP Rating: IP65 (dustproof and water-resistant)
Ideal for use in autonomous driving, robotics, AGV systems, public security, and traffic infrastructure.
Conclusion
Both Triangulation and TOF LiDAR technologies have distinct advantages depending on the intended application. For close-range, cost-sensitive projects, Triangulation remains a competitive solution. However, for high-performance, long-range, and harsh-environment use cases, TOF LiDAR offers unmatched benefits in accuracy, sampling rate, and durability.
As production costs for TOF LiDAR continue to decline, its adoption in diverse industries will likely accelerate — shaping the future of smart automation and intelligent sensing.
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