Webinar series: How to understand lidar performance

Digging into the datasheets to compare different lidar sensors can be frustrating and confusing. How do you get an apples-to-apples comparison? What tradeoffs exist between specs? Is everything being measured the same way?

Part 1: Resolution and Frame Rate

Explore a lidar sensor datasheet and explain what the different specs mean—highlighting frame rate and resolution. We'll explain how we measure these specs and what tradeoffs you may see between the specs, and why they matter for different lidar applications. Then we break down a point cloud and show how you can observe the specs in the data itself.Watch now

Part 2: Range, Precision, and Accuracy

Join us as we walk through how range and precision are measured for our lidar sensors and explain how they are affected by different architecture choices, lighting conditions, and target types. We'll dig into the physics of what causes these impacts and how you can understand range and precision for all lidar sensors. Watch now

Part 3: Reliability and Ruggedness

Reliability matters. Sensors failing on the job are both costly and a potential safety risk. Join us to take a look at how to better understand reliability metrics, get an overview of key standards, and learn how to think about the hidden costs of sensor replacements.Watch now

Part 4: Lidar Emitters and Detectors

Laser and detector choices determine the performance capabilities, reliability, and cost profile of a lidar sensor. Learn about the different choices in this webinar.Watch now

Latest firmware

Gen 1 sensor firmware — version 1.13

Improved precision, improved range discretization, ease-of-use improvements.

Gen 2 sensor beta firmware

Download the latest beta firmware for Gen 2 sensors.

Datasheets and CAD models

OS0 datasheet

Download the OS0 datasheet

OS1 datasheet

Download the OS1 datasheet

OS1 datasheet (Serial no. starting with "os1-")

Download the OS1 datasheet

OS2 datasheet

Download the OS2 datasheet

OS0 radial cap CAD model

Download the OS0 radial cap CAD model

OS0 flat cap CAD model

Download the OS0 CAD model (cap removed)

OS1 radial cap CAD model

Download the OS1 radial cap CAD model

OS1 flat cap CAD model

Download the OS1 CAD model (cap removed)

OS1 CAD model (Nov. 2019 and earlier)

Download the OS1 CAD model for sensors delivered in Nov. 2019 and earlier

OS2 CAD model

Download the OS2 CAD model

Sample drivers and lidar data

Sample drivers and visualizer

Sample ROS driver, C++ driver, and visualizer on Github

Sample lidar data

Sample OS1 lidar data (ROS .bag format with PC2 topics)

Gen 2 sensor beta firmware

Download the latest beta firmware for Gen 2 sensors.

Ouster Studio

Ouster Studio software

Ouster Studio lidar visualization software for Mac, PC, and Linux

Ouster Studio user guide

Download the latest version of the Ouster Studio user guide

User guides

Software user guide

Download the latest version of our software user guide

Hardware user guide

Download the latest version of our hardware user guide

Sensor update process

To update any Ouster product follow these steps:
  1. Download the newest firmware image.
  2. Make sure the sensor is on a network with a DHCP server and has gotten a DHCP lease.
  3. Open a web browser and navigate to the sensor hostname: http://os1-XXXXXXXXXXXX.local
  4. Using the browse button, select the firmware image you downloaded and click the update button. The sensor initiates its 5 minute update sequence, displays a success message, and automatically reboots at the end:

Firmware change log




  • Note: This firmware is only compatible with the Gen1 OS1-64, 32, 16
  • Improved precision by 2x
  • Improved range discretization to 0.3 cm
  • Created one combined user guide that includes hardware and software guide on the sensor webserver
  • Added alert UDP_TX_CONN_REFUSED to help troubleshooting
  • Added TCP command set_udp_dest_auto to automatically stage UDP destination IP address
  • New alerts category UDP_TRANSMISSION to describe errors when attempting to send UDP data
  • New alerts category UDP_CONNECT to describe errors when opening UDP sockets
  • Dropped columns are now padded out in the FPGA. UDP thread guarantees all output packets will have the 0th column in the packet with (col_id % 16) == 0. Packets with bad CRC are now dropped upstream and replaced with pads
  • The CRC valid bit in the UDP packet format now indicates "not a pad packet", since we never send out packets with bad CRCs anymore
  • Packets will only be transmitted if all columns in the packet were received and/or padded out by the FPGA
  • LIDAR data packets now start cleanly with frame_id = 0 and col_id = 0
  • Multiple incoming TCP connections are queued, instead of accepted and immediately closed






  • Corrected range bias
  • Suppressed inter-channel crosstalk from retroreflectors
  • Corrected IMU axis directions to match sensor coordinate frame
  • Improved network socket initialization when powering on or reinitializing




Version 1.12 unable to downgrade to earlier firmware version 1.11




  • Added NMEA $GPRMC UART message support for GPS time synchronization
  • Added ability to specify static IPv4 override and enabled IPv4 link-local addressing
  • Added additional internal integrity checks
  • Added HTTP API for system configuration