Specs
Manufacturer	Livox
Model	Horizon
Product	Solid-State LiDAR
Category	Sensor/Perception
MSRP	$800
Product Page	Livox Horizon

The Horizon LiDAR by Livox is currently the main 3D perception sensor on both Triton AI's go kart and the IAC race car(Luminar Lidars are the official ones on the IAC racecar).

As of 7 July 2021, IAC is switching from Luminar to Livox Horizon for its 3D perception solution. A plan has been made to reproduce the IAC perception setup on the go kart for easiler migration and data collection.

	Technical Specs
Range	260 m
Range Percision	2 cm
Angular Percision	0.5°
Horizontal FOV	81.7°
Vertical FOV	25.1°
Typical Power	12 W
Startup Power	30 W
Power Supply	10-15 V DC

IO

The LiDAR unit has a proprietary power/data connector.

Each individual unit comes with an adapter box which accepts the aformentioned connector and interfaces with a proprietary power connector and an Ethernet port.

The power connector that comes with the package has loose ends for custom power jacks.

A minimum of CAT-5 ethernet cable is advised.

On the Kart

There are a total of 6 units on UoH's kart (2 on the front, 4 on the back), configured to replicate the mounting height and position on the IAC car. The Mako cameras are mounted right next to them.

API

Livox provides ROS/ROS2/SDK for the unit.

Good to Know

The Horizon Lidar uses a peculiar scanning pattern different than the concept of "scan lines" called " non-repetitive horizontal scanning patterns", the details of which can be found on the product page. This scan pattern offers much higher scanning densities.

Livox used to manufacture a LiDAR hub which could easily fuse the point clouds of multiple LiDARs and manage the power deliveries, but the product has been discontinued.