LIVOX HAP
User Manual
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2022 Livox Tech All Rights Reserved.
5
Product Characteristics
The HAP (TX) utilizes Livox’s unique non-repetitive scanning technology and multi-laser and multi-
APD DL-Pack technology. Over time, the coverage inside the FOV increases significantly and
reveals more detailed information of the surroundings.
Figure 1.2.1 displays the point cloud allocation of the HAP (TX) inside the FOV within 0.1s. In
the center of the FOV, the scanning density is denser, with the average spacing of lines being
0.2° (most line spacing is from 0.1 to 0.3°), which is much denser than traditional 64-line LiDAR
sensors. The two areas on both sides have a lower scanning density and average spacing lines
of 0.3° (most line spacing is between 0.2 to 0.5°), rivaling traditional 64-line LiDAR sensors within
0.1 seconds.
Figure 1.2.2 displays the point cloud patterns of the HAP (TX) with respect to different integration time.
Figure 1.2.3 displays the FOV coverage of the HAP (TX) over different integration time, compared
with other non-Livox LiDAR sensors that use common mechanical scanning methods. The diagram
shows that when the integration time is less than 0.1 second, the FOV coverage of the HAP (TX) is
close to 80%, better than a 64-line LiDAR sensor. As the integration time increases to 0.5 seconds,
the FOV coverage approaches 99%, so almost all areas are illuminated by laser beams.
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Livox HAP
Figure 1.2.1 Point Cloud Allocation of the HAP (TX) within 0.1s (coordinates units: °)
0.1s
0.2s
0.5s
Figure 1.2.2 Point cloud patterns of the HAP (TX) accumulated over different integration time
Figure 1.2.3 The FOV coverage of the HAP (TX) over different integration times compared with non-Livox LiDAR sensors
using traditional mechanical scanning methods. The 16-line non-Livox LiDAR sensor has a vertical FOV of 30°, the 32-
line non-Livox LiDAR sensor is 41°, and the 64-line non-Livox LiDAR sensor is 27°.
Integration Time (s)
FOV Coverage (%)
64-line
32-line
16-line
