Recently, as researches about robots, AI(Artificial Intelligence), and self-driving become important, obstacle detection sensors also have received attentions. Among the various obstacle detection sensors, laser triangulation sensor is most efficient to detect the obstacle in short range (< 5m) because its hardware configuration is very simple and it can provide enough performance for detecting the object around. In this paper, we introduce a laser triangulation based LiDAR without mechanical scanning structures. The principle of laser triangulation and the procedures for obtaining the distance from the images are presented. Finally, experimental results are shown to validate the performance of the LiDAR.