Ouster, Inc.

350 Treat Ave.

OS1
Mid-Range High-Resolution Imaging Lidar
FIRMWARE VERSION: 3.1.x
HARDWARE VERSION: REV7

SUMMARY
The mid-range OS1 lidar sensor features 90 m range on a dark 10% target,
a 42.4º vertical field of view, and high reliability for the most rugged
conditions. The OS1 is designed for all-weather environments and use in
industrial automation, autonomous vehicles, mapping, smart
infrastructure, and robotics.

HIGHLIGHTS
• Configurable Minimum Range and Return Ordering
• Low Data Rate Profile now available with Dual Returns
• Camera-grade near-infrared and signal data
• Multi-sensor crosstalk suppression
• Ouster Studio for pointcloud evaluation
• Ouster SDK, ROS, and C++ drivers for SW development

OPTICAL PERFORMANCE
Range 170 m @ >90% detection probability, 100 klx sunlight
(80% Lambertian reflectivity,
1024 @ 10 Hz mode)
Range 90 m @ >90% detection probability, 100 klx sunlight
(10% Lambertian reflectivity,
1024 @ 10 Hz mode)
Minimum Range 0.0 m (0.3 m optional, and 0.5 m default)
Vertical Resolution 32, 64, or 128 channels
Horizontal Resolution 512, 1024, or 2048 (configurable)
Rotation Rate 10 or 20 Hz (configurable)
Field of View Vertical: 42.4° ± 1.0° (+21.2° to -21.2°)
Horizontal: 360°
Angular Sampling Accuracy Vertical: ±0.01° / Horizontal: ±0.01°
False Positive Rate 1/10,000
Range Resolution 0.1 cm
Note: For Low Data Rate Profile the Range Resolution = 0.8 cm
# of Returns up to 2
Return Order Strongest to Weakest, Farthest to Nearest, and Nearest to Farthest
Range Precision Min: ±0.5 cm, Max: ±3 cm
(Typical on Lambertian and
Retroreflective targets beyond 1 m,
1024 @ 10 Hz mode, 1 standard
deviation)
Note: Precision is calculated
based on the standard deviation of
100 measurements on a static
target at a given range

Range Accuracy ±2.5 cm for lambertian targets, ±5 cm for retroreflective targets

LASER
Laser Product Class Class 1 eye-safe per IEC/EN 60825-1: 2014
Laser Wavelength 865 nm
Beam Diameter Exiting Sensor 9.5 mm
Beam Divergence 0.18° (FWHM)

LIDAR OUTPUT
Connection UDP over gigabit Ethernet
Points Per Second 1,310,720 (32 channel)
2,621,440 (64 channel)
5,242,880 (128 channel)
Data Rate (megabits per second) up to 11.83 Mbps (32 channel)
(Low Data Rate Profile, 1 return, up to 22.32 Mbps (64 channel)
1024 @ 10 Hz mode) up to 43.29 Mbps (128 channel)
Data Rate (megabits per second) up to 22.32 Mbps (32 channel)
(Low Data Rate Profile, 2 returns, up to 43.29 Mbps (64 channel)
1024 @ 10 Hz mode) up to 85.24 Mbps (128 channel)
Data Rate (megabits per second) up to 32.81 Mbps (32 channel)
(Single Return Profile, 1024 @ 10 up to 64.26 Mbps (64 channel)
Hz mode) up to 127.18 Mbps (128 channel)
Data Rate (megabits per second) up to 43.29 Mbps (32 channel)
(Dual Return Profile, 1024 @ 10 Hz up to 85.24 Mbps (64 channel)
mode) up to 169.12 Mbps (128 channel)
Data Per Point Range, Signal, Reflectivity, Near-infrared, Channel, Azimuth angle, and Timestamp
Timestamp Resolution < 1 µs
Data Latency < 10 ms
Data Integrity End to End CRC that covers entire data packet

IMU OUTPUT
Connection UDP over 1000Base-T or 1000Base-T1
Samples Per Second 100
Data Per Sample 3 axis gyro, 3 axis accelerometer
Timestamp Resolution < 1 µs
Data Latency < 10 ms
Additional Details InvenSense IAM-20680HT; datasheet for more details:
https://invensense.tdk.com/download-pdf/iam-20680ht-datasheet/

CONTROL INTERFACE
Connection HTTP API
Time Synchronization Input sources:
• IEEE1588 Precision Time Protocol (PTP); Accuracy: <1 ms error
• gPTP; Accuracy: <1 ms error
• NMEA $GPRMC UART message support
• External PPS; Accuracy: <1 ms error
• Internal 10 ppm drift clock; Accuracy: <20 ppm error
Output sources:
• Configurable 1 - 60 Hz output pulse
Lidar Operating Modes • x 512 @ 10 Hz or 20 Hz
• x 1024 @ 10 Hz or 20 Hz
• x 2048 @ 10 Hz
Additional Programmability • Multi-sensor phase lock • Return ordering
• Queryable intrinsic calibration information: • Minimum range
• Beam angles • Azimuth masking
• IMU pose correction matrix • Low-power standby mode

MECHANICAL/ELECTRICAL
Power Consumption 14 - 20 W
• 16 W nominal
• 28 W peak at startup if operating at -40 °C
Note: Ouster recommends use of a power supply of no less than 30 W if using in cold conditions
Connector Standard 1000BASE-T or Automotive Standard 1000BASE-T1
Operating Voltage 9.5 V - 51 V
• Suitable for 12 VDC to 24 VDC nominal systems
• Not suitable for 48 V nominal battery based systems
• Under-voltage WARNING level alert occurs at 9.5 VDC at the connector
• Under-voltage ERROR level alert occurs at 9.0 VDC at the connector
• Below 9.0 VDC at connector, sensor may shutdown
• Over-voltage conditions/alarms occur at 51 VDC at the connector
• Over-voltage lockout onset at 58 VDC (±1 V) at the connector
• Over-voltage lockout release at 55 VDC (±1 V) at the connector
Dimensions Diameter: 87 mm (3.42 in)
Height:
• Without cap: 58.35 mm (2.3 in)
• With thermal cap: 74.2 mm (2.9 in)
Weight Without cap: 410 g (14.5 oz)
With radial cap: 482 g (17.0 oz)
With halo cap: 502 g (17.7 oz)
Mounting Bottom: 4x M3 screws, 2x locating 2 mm pin holes
Top: 4x M3 screws, 4x locating 2 mm pin holes, 1x M6 screw

OPERATIONAL
Operating Temperature -40 °C to +60 °C (with mount)
Between +53 °C and +60 °C, sensor automatically reduces range (max 20% range reduction)
Storage Temperature -40 °C to +105 °C

Ingress Protection IP68 (1 m submersion for 1 hour, with I/O cable attached)
IP69K (with I/O cable attached)
Shock IEC 60068-2-27 (Amplitude: 100 g, Shape: 11 ms half-sine, 3 shocks x 6 directions)
Vibration IEC 60068-2-64 (Amplitude: 3 G-rms, Shape: 10 - 1000 Hz, Mounting: sprung masses, 3 axes w/ 8
hr duration each)
Compliance For US
Laser Safety:
Note: Ouster UK (Ltd): 125 Princes • EN/IEC 60825-1:2014 Class 1 eye safe
Street, Edinburgh EH2 4AD, • FDA US 21CFR1040 Notice 56 Class 1
Scotland, United Kingdom
Contact: Neil Calder, Phone Product Safety:
Number: +44(0).131.563.9078 • UL 62368-1
• UL 60950-22 (outdoor use)
• CSA-C22.2 No. 62368-1-19
• CSA-C22.2 No. 60950-22-07 (outdoor use)

EMC: FCC 47CFR Part 15, Subpart B, Class A

For EU
Laser Safety: EN/IEC 60825-1:2014 Class 1 eye safe

Product Safety: EN/IEC 62368-1

EMC:
• EN 55032:2012/AC 2013; CISPR 32:2015
• EN 55024:2010; CISPR 24:2010
• EN 61000-3-2:2014
• EN 61000-3-3:2013
ACCESSORIES
Interface Box Polycarb/FR4, 100 g, 75 mm x 50 mm x 25 mm (LxWxH), 2 m CAT6 cable, 24 V power adapter, 5
m sensor cable
Mount Aluminum, 530 g, 110 mm x 110 mm x 20.5 mm (LxWxH), 4 x M8 thru holes

SOFTWARE
Sample Drivers Ouster SDK, ROS, C++
Visualizer Ouster Studio

EXTERIOR DIMENSIONS
*Specifications are subject to change without notice.

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REV: 06/2024 • © 2024 Ouster, Inc. • All rights reserved