Sensor Features

Minimum Range Threshold

Open in Claude

min_range_threshold_cm was added in FW v3.1. It reduces the minimum range of the sensor, enabling detection all the way up to the sensor window.

Prior generations had a hardware-imposed minimum range. Rev 7 sensors remove that limitation. Users can now eliminate the near-field blind zone and extend the field of view (FOV) all the way to the sensor window, with the minimum range configurable for the specific deployment (valid values: 0 cm, 30 cm, 50 cm).

Configuring min_range

Set the parameter via the HTTP API (POST /api/v1/sensor/config; see min_range_threshold_cm in the request body schema in the API reference):

  • 0 cm (sensor window) — full range from window to max range. Recommended when objects can be expected within 50 cm of the sensor.
  • 30 cm — matches the legacy minimum range of Rev 6 and earlier sensors.
  • 50 cm (default for Rev 7 and later) — standard configuration for most applications.

Note: When min_range_threshold_cm is set to 30 cm or less, Ouster recommends setting return_order to FARTHEST_TO_NEAREST, especially when udp_profile_lidar is also set to a single-return profile. For best performance below 50 cm, keep the sensor window clean.

Use Cases

  • Vehicle applications: Tune the minimum range based on nearby-object detection to reduce false positives near the vehicle body and improve obstacle response.
  • Customized sensing: In robotics, drones, or other applications with known ranges of interest, a tighter minimum range improves precision and efficiency.
  • Environmental adaptability: In crowded spaces or highly reflective environments, adjusting the minimum range improves performance and accuracy.
  • Filtering unwanted detections: Focus on relevant objects within the FOV by suppressing the near field. Particularly useful in complex operating environments.