Category · Time-of-flight sensors

ToF Distance Sensor: dToF vs iToF, Range & Models

Q: What is a ToF distance sensor?

A sensor that measures distance from the time light takes to reach a target and return. Direct ToF times a laser pulse; indirect ToF measures the phase shift of modulated light.

Q: Is ToF better than LiDAR?

They are not opposites: a single-point LiDAR is a direct-ToF sensor. Scanning LiDAR moves the beam to build a point cloud; a single-point ToF sensor measures one distance, which is cheaper, lighter and simpler to integrate.

Q: What is the range of a ToF sensor?

Chip-scale iToF and short-range dToF parts work over centimetres to a few metres. Laser dToF modules in this catalog run from 9 m to 1.5 km, and long-range rangefinders go further.

Q: What is a distance sensor?

Any sensor that reports how far away an object is: ultrasonic, radar, infrared triangulation or laser time-of-flight. Laser ToF gives the narrowest beam and the longest range of these.

A ToF (time-of-flight) distance sensor measures distance from the travel time of light. ERDILRF makes 16 direct-ToF (dToF) laser distance sensors from 9 m to 1.5 km with UART/I2C output and published prices from $6, shipping included.

dToF vs iToF

Point	Direct ToF (dToF)	Indirect ToF (iToF)
What is measured	Time between an emitted laser pulse and its echo: d = c × t / 2	Phase shift of continuously modulated light
Typical range	Metres to kilometres (pulse energy sets the limit)	Centimetres to a few metres (phase wraps beyond one modulation period)
Sunlight	Short pulses plus a time gate reject most ambient light	Ambient light adds noise to the phase measurement
Typical parts	ERDILRF VB, H and SPD modules; long-range rangefinders	Depth cameras, short-range proximity chips

ERDILRF dToF distance sensors

All models below are pulsed direct-ToF sensors; values are read live from each catalog record.

Model	Wavelength	Max range	Accuracy	Update rate	Interface	Weight	Published price from
LRF10VB	940 nm	9 m	±5 cm (<5 m); 1% (≥5 m)	50 Hz	UART	1 g	$6, shipping incl.
LRF22VB	905 nm	20 m	±5 cm (<5 m); 1% (≥5 m)	200 Hz (alternatives: 100/50/20/10/1 Hz)	UART/IIC	1.5 g	$8, shipping incl.
LRF50H	905 nm	50 m	±5 cm (<10 m); 1% (≥10 m), 2σ	20 Hz-10 kHz (default: 1 kHz)	UART	15 ± 2 g	$50, shipping incl.
LRF50VB	905 nm	50 m	±5 cm (<5 m); 1% (≥5 m)	100 Hz	UART/IIC	1.3 g	$20, shipping incl.
LRF100H	905 nm	100 m	±10 cm (<10 m); 1% (≥10 m)	20 Hz-10 kHz (default: 1 kHz)	UART, IIC	20 ± 2 g	$80, shipping incl.
LRF200H	905 nm	200 m	±10 cm (<10 m); 1% (≥10 m)	20 Hz-10 kHz (default: 1 kHz)	UART, IIC	20 ± 2 g	$100, shipping incl.
LRF300H	905 nm	300 m	±10 cm (<10 m); 1% (≥10 m)	1 kHz or 50 Hz (automatically switched to match…	UART, IIC	20 ± 2 g	$140, shipping incl.
LRF600H	905 nm	600 m	±10 cm (<10 m); 1% (≥10 m)	1 kHz or 50 Hz (automatically switched to match…	UART/IIC	20 ± 2 g	$160, shipping incl.
SPD1200N3	905 nm	1 km	±0.5 m at d ≤100 m; ±(0.5 m + 0.00075d) for 100 m < d…	2.5–15 Hz	UART, 3.3 V TTL; customizable	≤6 g	$36.75, shipping incl.
SPD1200N0	905 nm	1.2 km	±0.3 m (D ≤100 m); ±0.3 m + D × 0.7‰ (100 m < D <1,200 m)	2–15 Hz or 4–15 Hz, adaptive	UART-TTL (customizable)	≈5 g	$35, shipping incl.
SPD1200N2	905 nm	1.2 km	±0.3 m (D ≤100 m); ±0.3 m + D × 0.7‰ (100 m < D <1,200 m)	2–15 Hz or 4–15 Hz, adaptive	UART-TTL (customizable)	≤5 g	$35, shipping incl.
SPD1200N4	905 nm	1.2 km	±0.3 m (D ≤100 m); ±0.3 m + D × 0.7‰ (100 m < D <1,200 m)	2–15 Hz or 4–15 Hz, adaptive	UART-TTL (customizable)	≈5 g	$35, shipping incl.
SPD1200S2	905 nm	1.2 km	±0.3m (≤400m)±0.5m + d × 0.1% (400m＜d＜1,200m)	4Hz~15Hz Adaptive	UART-TTL, Customizable	≤10g	$150, shipping incl.
SPD1200Z2	905 nm	1.2 km	±0.2 m (d ≤ 200 m); ±0.5 m (d ≤ 400 m); ±(0.5 m + 0.001d)…	2–20 Hz adaptive	UART-TTL, Customizable	≈6g	$150, shipping incl.
SPD1200ZG	905 nm	1.2 km	±0.5 m at d ≤100 m; ±(0.5 m + 0.0007d) for 100 m < d <1,200…	2–10 Hz	UART-TTL; customizable	≤5 g	$80, shipping incl.
LRF1500H	905 nm	1.5 km	±10 cm (<10 m); 1% (≥10 m)	1 kHz or 50 Hz (automatically switched to match…	UART/IIC	20 ± 2 g	$180, shipping incl.

VL53L1X long-range alternative: when a chip sensor is not enough

VL53L0X, VL53L1X and VL53L4CX are chip-scale ToF sensors from STMicroelectronics specified for short distances (ST's VL53L1X product page states accurate ranging up to 4 m, checked 2026-11-11). When a project needs more distance, a sunlit outdoor target, or a narrow beam, the next step up is a laser module with its own optics:

Same I2C bus: LRF22VB, LRF50VB, LRF100H, LRF200H, LRF300H, LRF600H, LRF1500H list I2C as well as UART.
Similar size: the VB boards weigh 1 g / 1.5 g / 1.3 g and reach 9 m / 20 m / 50 m.
Much longer range: the H series (one 33 × 34 × 18 mm body from LRF100H up) continues to 600 m.

The main software change is the protocol: ERDILRF sensors send a distance frame over UART (or a register read over I2C) instead of the ST API. The Arduino UART guide and ESP32 guide show working code.

Choosing a ToF distance sensor

Start from the farthest target and its surface. Under about 10 m indoors a chip sensor or the LRF10VB is enough; outdoors, beyond 10–20 m, or on dark surfaces, use a module with a dedicated lens and a higher pulse energy. For drones, check the update rate (stated per model) against your descent speed; for robots, check the minimum distance.

More: laser distance sensor models · how a laser rangefinder works · dToF vs triangulation

FAQ

What is a ToF distance sensor?

A sensor that measures distance from the time light takes to reach a target and return. Direct ToF times a laser pulse; indirect ToF measures the phase shift of modulated light.

Is ToF better than LiDAR?

They are not opposites: a single-point LiDAR is a direct-ToF sensor. Scanning LiDAR moves the beam to build a point cloud; a single-point ToF sensor measures one distance, which is cheaper, lighter and simpler to integrate.

What is the range of a ToF sensor?

Chip-scale iToF and short-range dToF parts work over centimetres to a few metres. Laser dToF modules in this catalog run from 9 m to 1.5 km, and long-range rangefinders go further.

What is a distance sensor?