Our rangefinder is a commercially available scanning laser rangefinder from Acuity Research . It is a time-of-flight rangefinder that can acquire range data at up to 50K samples/sec. It can accurately determine range from 0 to 15 meters, with better accuracy at closer ranges.
The scanning mirror sweeps the laser beam in a vertical plane with a 60 occlusion (aimed downward). The scanning mirror has a 4096-position shaft encoder to aid in determining where the laser is aimed.