📡 LiDAR Scanning

Rays per scan 120 Max range (px) 320 Range noise σ 2 Rotation speed 3 Environment preset

Empty room

Cluttered

Corridor

Single obstacle

Points / scan0

Coverage0 %

Scan rate0 Hz

Mean range— px

The sensor fires rays at evenly spaced angles. Each ray is tested against every wall segment (real ray–segment intersection); the nearest hit gives the range, plus Gaussian noise. Hit cells become occupied; cells along the ray before the hit become free — that's an occupancy grid. Drag the sensor to move it and watch the map fill in.

Environment + beam (drag sensor)

Occupancy grid + point cloud