Unitree 4D LiDAR L1 / L2

Unitree’s own low-cost, hemispherical-field-of-view lidar, where every point carries a 3D coordinate plus a grayscale value.

This is a small lidar (a sensor that measures range with a laser and scans out a 3D point cloud of its surroundings) developed in-house by Unitree Robotics. “4D” refers to each point carrying a 3D position plus one extra dimension of grayscale (reflected intensity). Per the published specs: the L1 has a 360°×90° field of view, outputs about 21,600 points per second, and starts at US$249; the L2 has a 360°×96° field of view, outputs 64,000 points per second, ranges to 30 m (at 90% reflectivity), has a close-range blind zone of only 0.05 m, weighs 230 g, and costs $419. Both have a built-in IMU and use a non-repetitive scan pattern. The price is far below traditional lidar; Unitree’s Go2 quadruped is listed as shipping with the L2, and Unitree also provides an open-source mapping pipeline based on Point-LIO, with the sensor commonly used for SLAM and obstacle avoidance.

ExampleOn a Unitree Go2, the head-mounted L2’s point cloud plus its built-in IMU are run through Point-LIO to build a 3D indoor map while walking, used for navigation and obstacle avoidance.

Also called

Unitree L1, Unitree L2

Related

LiDAR · Livox Mid-360 · Unitree Go2 · LiDAR-Inertial Odometry · Unitree Robotics · Inertial Measurement Unit

Sources

Unitree 4D LiDAR L2 官网 (Chinese)
Unitree 4D LiDAR L1 官网 (Chinese)
Unitree Go2 官网 (Chinese)

As of

2026-09