Intel RealSense L515 Indoor LiDAR Depth Camera for 3D Scanning

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The Intel RealSense L515 is an indoor LiDAR depth camera that uses a MEMS-scanned infrared laser rather than stereo image matching. It combines depth, color, and a six-axis IMU in a compact USB-powered body for indoor object capture, spatial measurement experiments, and legacy RGB-D applications.Depth output reaches 1024 x 768 at 30 fps, but the available range depends on resolution, target reflectivity, and ambient infrared light. The datasheet specifies up to 9 m at VGA with 95% reflectivity, versus 6.5 m at XGA under the same reflectivity condition. L515 is a retired product: an established, compatible SDK and firmware combination is important when maintaining or reproducing an existing system.For reproducible development, start from the legacy RealSense SDK 2.50.0 baseline and verify the camera firmware, host system and wrapper versions together. Current SDK releases focus on newer devices and should not be assumed compatible with this retired camera family. Keep the tested software environment with the project.Features Scanned LiDAR depth - Laser ranging does not rely on finding stereo-image correspondences, offering a different approach for indoor geometry capture. Resolution-qualified range - Select VGA for the documented longer range, or XGA for a denser depth map with a shorter reflectivity-qualified range. Indoor light planning - Control sunlight and other infrared sources; the range specification is not an outdoor performance guarantee. Legacy deployment path - Use a validated SDK and firmware combination for L515 rather than assuming a newly released SDK supports retired cameras. Depth stream selection - 1024 x 768, 640 x 480, or 320 x 240 at 30 fps. Choose a profile that the host can sustain alongside the required color and motion streams. Color information - 1920 x 1080 at 30 fps; 1280 x 720 at up to 60 fps. Use intrinsic and extrinsic calibration when converting pixel coordinates or generating textured point clouds. Inertial measurements - The six-axis IMU supplies accelerometer and gyroscope data for application-side fusion; it does not run a complete navigation algorithm. Compact physical integration - 61 mm diameter x 26 mm housing; 95 g nominal. Allow clearance for connectors, cable bend radius and the optical field of view. Developer tooling - Use the compatible RealSense Viewer and SDK examples to inspect streams, record datasets and check calibration before integrating a custom application. System-level validation - Test representative target materials, illumination, motion, host bandwidth and thermal conditions before relying on measurements in an operating robot. Specifications Parameter Value Model Intel RealSense L515 Depth technology MEMS-scanned infrared LiDAR Depth imaging MEMS-scanned laser ranging Depth output profiles 1024 x 768, 640 x 480, or 320 x 240 at 30 fps Depth field of view (H x V) 70 x 55 deg Depth range at 95% reflectivity 0.25-9 m in VGA/QVGA; 0.25-6.5 m in XGA Depth range at 15% reflectivity 0.25-3.9 m in VGA/QVGA; 0.25-2.6 m in XGA Range conditions Maximum range: center 10% ROI; documented indoor lighting conditions Average depth accuracy Less than 5 mm at 1 m; less than 14 mm at 9 m, VGA and 95% reflectivity Depth point rate Approximately 23.6 million points/s at 1024 x 768 and 30 fps Laser wavelength 860 nm IMU model Bosch BMI085 IMU output rates 100, 200 or 400 Hz for accelerometer and gyroscope Color output 1920 x 1080 at 30 fps; 1280 x 720 at up to 60 fps Color field of view (H x V) 69 x 42 deg Inertial measurement unit Six-axis accelerometer + gyroscope Host interface USB 3 Type-C Dimensions (W x H x D) 61 mm diameter x 26 mm Weight 95 g nominal USB supply 5 V nominal; 4.5-5.5 V Typical operating power at 25 deg C 3.0 W VGA depth; 3.2 W VGA depth + 1080p RGB; 3.3 W XGA depth + 1080p RGB Operating ambient temperature 0-30 deg C with depth and RGB streaming, under typical indoor airflow Mounting and ventilation Two rear M3 mounting holes; keep cooling vents clear with 12 mm clearance Software Legacy RealSense SDK 2.50.0 baseline; validate the matching firmware and host environment Product Comparison Parameter RealSense L515 Orbbec Femto Bolt RealSense D455 Technology / filter MEMS-scanned infrared LiDAR Indirect time-of-flight Active stereo; All-pass Working range / mode 0.25-9 m at VGA, 95% reflectivity NFOV unbinned: 0.5-3.86 m; WFOV unbinned: 0.25-2.21 m 0.6-6 m ideal Stereo baseline Not applicable: LiDAR Not applicable: ToF 95 mm Depth FOV (H x V) 70 x 55 deg NFOV: 75 x 65 deg; WFOV: 120 x 120 deg 87 x 58 deg at 2 m, HD Representative depth output 1024 x 768, 640 x 480, or 320 x 240 at 30 fps NFOV: 640 x 576 at 30 fps; WFOV: 1024 x 1024 at 15 fps 1280 x 720 at 30 fps; 848 x 480 at up to 90 fps (USB 3) Depth sensing / shutter MEMS-scanned laser ranging Indirect time-of-flight depth sensor Global shutter Color output 1920 x 1080 at 30 fps; 1280 x 720 at up to 60 fps 3840 x 2160 at 30 fps 1280 x 800 at 30 fps; 848 x 480 at up to 60 fps IMU Yes Yes Yes Connection USB 3 Type-C USB 3.2 Type-C; DC adapter or compatible Type-C power USB 3 Type-C Protection Indoor use; no IP rating stated Indoor use; no IP rating stated No IP rating stated Software RealSense SDK 2.50.0 legacy baseline Orbbec SDK / K4A wrapper RealSense SDK 2.0 Choosing between models: L515 uses scanned LiDAR, while Femto Bolt uses indirect time-of-flight and D455 uses stereo vision. These are alternative sensing approaches, not drop-in replacements; range, field of view, sunlight tolerance and software integration differ.Compare the stated resolution, working distance and sensing mode together. FOV and depth range vary with configuration and scene conditions; changing camera brands also requires checking drivers, coordinate frames, calibration, cabling and mounting.Application.rs-app-grid{display:grid;grid-template-columns:repeat(2,minmax(0,1fr));gap:16px 24px}.rs-app-card{display:grid;grid-template-rows:subgrid;grid-row:span 3;gap:0;margin:0!important}.rs-app-card .rs-app-frame{aspect-ratio:16/9;display:flex;align-items:center;justify-content:center}.rs-app-card img{width:100%;height:100%;object-fit:contain;margin:0}.rs-app-card h3{margin:14px 0 8px!important;line-height:1.35}.rs-app-card p{margin:0!important}.rs-app-text h3{margin:20px 0 8px}.rs-app-text p{margin:0 0 12px}@media(max-width:640px){.rs-app-grid{grid-template-columns:1fr}} Indoor parcel and volume measurement Acquire geometry for box or object dimension-estimation software under controlled indoor lighting. Validate dimensions against reference objects and keep the chosen VGA or XGA range limit in the system specification. Bin-picking and object localization Evaluate LiDAR depth for estimating graspable surfaces in cluttered indoor scenes. Occlusions, reflective packaging and dark materials can still produce invalid or noisy measurements. Handheld 3D capture The 95 g nominal body and USB power suit compact capture rigs for object digitization and research. Registration and tracking are host-side tasks; keep the cooling vents unobstructed. Indoor room reconstruction Combine successive frames to model rooms and structures. The 9 m headline range applies to VGA and highly reflective targets, not to every surface at the maximum XGA resolution. AMR and sensor-fusion experiments Use depth and IMU data in a compatible legacy perception stack. Maintain an established SDK/firmware combination and evaluate interference when multiple active depth cameras observe the same area. Industrial inspection research Study geometry under repeatable illumination and target placement. LiDAR is not automatically more accurate than stereo for every surface, and no general measurement guarantee follows from the sensing principle. AR, body-surface and interaction research Combine color with depth for segmentation, visualization or non-contact surface analysis. Clinical, rehabilitation and safety-related uses require separate application validation beyond camera specifications. Reference DocumentsDocuments and ManualsL515 DatasheetSDK and Software RealSense SDK 2.50.0 (Legacy) RealSense ROS Wrapper (Legacy Releases) FirmwareL500 Firmware ReleasesCAD and DrawingsL515 CAD ModelPacking List SKU Item Quantity Intel-L515 Intel RealSense L515 Depth Camera 1 Stand 1 USB-C Cable 1 FAQ .faq-accordion details{border-bottom:1px solid #e6eef8;padding:14px 0} .faq-accordion summary{list-style:none;cursor:pointer;font-size:16px;font-weight:700;color:#1f2933;position:relative;padding-right:32px} .faq-accordion summary::-webkit-details-marker{display:none} .faq-accordion summary::after{content:"\203A";position:absolute;right:4px;top:50%;transform:translateY(-50%) rotate(90deg);color:#007fff;font-size:28px;line-height:1;transition:transform .2s ease} .faq-accordion details[open] summary::after{transform:translateY(-50%) rotate(270deg)} .faq-accordion p{margin:12px 0 0;color:#4b5563;line-height:1.65} How does L515 differ from the other RealSense model in the comparison?L515 uses MEMS-scanned LiDAR for indoor capture; D455 uses stereo imaging with a 95 mm baseline. Their range conditions, optical behavior and software-version requirements differ.How does it compare with Orbbec Femto Bolt?L515 uses scanned LiDAR, while Femto Bolt uses indirect time-of-flight and D455 uses stereo vision. These are alternative sensing approaches, not drop-in replacements; range, field of view, sunlight tolerance and software integration differ. Compare the profile-specific parameters in Product Comparison before changing hardware or software.What depth resolutions and frame rates are available?1024 x 768, 640 x 480, or 320 x 240 at 30 fps. Maximum resolution and maximum frame rate are not necessarily available in the same profile; query the connected device in a compatible Viewer or SDK.How close can the camera measure?The useful range starts around 0.25 m; maximum distance depends on resolution, reflectivity and indoor illumination.Can this camera be used outdoors?L515 is intended for indoor use. Direct sunlight and ambient infrared can reduce range and depth quality; the 9 m range is not an outdoor specification.Does the camera include an IMU?Yes. It provides three-axis acceleration and three-axis angular velocity for host-side processing. The IMU does not by itself provide drift-free pose, robot balance control or a complete SLAM system.Which software and ROS setup should I use?Use a legacy-compatible SDK and firmware stack. Version 2.50.0 is the last validated RealSense SDK baseline for the retired L515/SR300 families; newer releases should not be assumed compatible. Match ROS wrapper and host versions to that SDK.What should I check for a multi-camera setup?Multiple L515 cameras need the documented interference-management and synchronization procedure, plus enough host bandwidth. Do not place several active emitters into one scene without testing.How is the camera powered?The camera takes power from its USB connection. Use a suitable data-capable cable and a host port with adequate power and bandwidth; hubs, extensions and multiple cameras should be tested under the full stream load.What is included in the package?The package contains 1 Intel RealSense L515 Depth Camera, 1 Stand, 1 USB-C Cable. Downloadable software and technical files are listed separately in Reference Documents. Show more