The Hokuyo URG-04LX was the first popular "budget" laser rangefinder from Hokuyo, and has been featured on many indoor robots. It isn't the most capable laser rangefinder; it has a sensing range of only 4 meters and it has detection problems when scanning absorptive surfaces (such as black trimming). However, it possesses a 10 Hz scan rate over 270° range, with 0.36° angular resolution, and it requires a mere 2.5 Watts of power at 5VDC. At 5.0 x 5.0 x 7.0 cm, it is also one of the most compact laser rangefinders commercially available. Most importantly, the URG-04LX retails for a mere $2400 (from distributors such as Acroname); at its debut, its list price was less than half that of the ever-popular SICK LMS 200-290 series of laser rangefinders!
More detailed specifications of the Hokuyo URG-04LX can be found here.
