diff --git a/docs/lidar.md b/docs/lidar.md
index 3182a7e181..0f6ad67025 100644
--- a/docs/lidar.md
+++ b/docs/lidar.md
@@ -1,17 +1,20 @@
 # How to Use Lidar in AirSim
 
-AirSim supports Lidar for multirotors and cars. 
+AirSim supports Lidar for multirotors and cars.
 
 The enablement of lidar and the other lidar settings can be configured via AirSimSettings json.
 Please see [general sensors](sensors.md) for information on configruation of general/shared sensor settings.
 
 ## Enabling lidar on a vehicle
 * By default, lidars are not enabled. To enable lidar, set the SensorType and Enabled attributes in settings json.
+
+```json
+    "Lidar1": {
+         "SensorType": 6,
+         "Enabled" : true,
+    }
 ```
-        "Lidar1": { 
-             "SensorType": 6,
-             "Enabled" : true,
-```
+
 * Multiple lidars can be enabled on a vehicle.
 
 ## Lidar configuration
@@ -27,12 +30,13 @@ HorizontalFOVStart        | Horizontal FOV start for the lidar, in degrees
 HorizontalFOVEnd          | Horizontal FOV end for the lidar, in degrees
 VerticalFOVUpper          | Vertical FOV upper limit for the lidar, in degrees
 VerticalFOVLower          | Vertical FOV lower limit for the lidar, in degrees
-X Y Z                     | Position of the lidar relative to the vehicle (in NED, in meters)                     
+X Y Z                     | Position of the lidar relative to the vehicle (in NED, in meters)
 Roll Pitch Yaw            | Orientation of the lidar relative to the vehicle  (in degrees, yaw-pitch-roll order to front vector +X)
 DataFrame                 | Frame for the points in output ("VehicleInertialFrame" or "SensorLocalFrame")
 
-e.g.,
-```
+e.g.
+
+```json
 {
     "SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings_json.md",
     "SettingsVersion": 1.2,
@@ -44,7 +48,7 @@ e.g.,
 			"VehicleType": "simpleflight",
 			"AutoCreate": true,
 			"Sensors": {
-			    "LidarSensor1": { 
+			    "LidarSensor1": {
 					"SensorType": 6,
 					"Enabled" : true,
 					"NumberOfChannels": 16,
@@ -59,7 +63,7 @@ e.g.,
 					"DrawDebugPoints": true,
 					"DataFrame": "SensorLocalFrame"
 				},
-				"LidarSensor2": { 
+				"LidarSensor2": {
 				   "SensorType": 6,
 					"Enabled" : true,
 					"NumberOfChannels": 4,
@@ -79,30 +83,38 @@ e.g.,
 ```
 
 ## Server side visualization for debugging
-Be default, the lidar points are not drawn on the viewport. To enable the drawing of hit laser points on the viewport, please enable setting 'DrawDebugPoints' via settings json.
-e.g.,
-```
-        "Lidar1": { 
-             ...
-             "DrawDebugPoints": true
-        },
+
+By default, the lidar points are not drawn on the viewport. To enable the drawing of hit laser points on the viewport, please enable setting `DrawDebugPoints` via settings json.
+
+```json
+    "Lidar1": {
+         ...
+         "DrawDebugPoints": true
+    },
 ```
 
-## Client API 
-Use `getLidarData()` API to retrieve the Lidar data. 
+**Note:** Enabling `DrawDebugPoints` can cause excessive memory usage and crash in releases `v1.3.1`, `v1.3.0`. This has been fixed in master and should work in later releases
+
+## Client API
+
+Use `getLidarData()` API to retrieve the Lidar data.
+
 * The API returns a Point-Cloud as a flat array of floats along with the timestamp of the capture and lidar pose.
-* Point-Cloud: 
-  * The floats represent [x,y,z] coordinate for each point hit within the range in the last scan.
-  * The frame for the points in the output is configurable using "DataFrame" attribute
-  "" or "VehicleInertialFrame" -- default; returned points are in vehicle inertial frame (in NED, in meters)
-  "SensorLocalFrame" -- returned points are in lidar local frame (in NED, in meters)
+* Point-Cloud:
+    * The floats represent [x,y,z] coordinate for each point hit within the range in the last scan.
+    * The frame for the points in the output is configurable using "DataFrame" attribute -
+        * "" or `VehicleInertialFrame` -- default; returned points are in vehicle inertial frame (in NED, in meters)
+        * `SensorLocalFrame` -- returned points are in lidar local frame (in NED, in meters)
 * Lidar Pose:
     * Lidar pose in the vehicle inertial frame (in NED, in meters)
     * Can be used to transform points to other frames.
+* Segmentation: The segmentation of each lidar point's collided object
 
 ### Python Examples
-[drone_lidar.py](https://github.com/Microsoft/AirSim/tree/master/PythonClient//multirotor)
-[car_lidar.py](https://github.com/Microsoft/AirSim/tree/master/PythonClient//car)
+
+[drone_lidar.py](https://github.com/microsoft/AirSim/blob/master/PythonClient/multirotor/drone_lidar.py)
+
+[car_lidar.py](https://github.com/microsoft/AirSim/blob/master/PythonClient/car/car_lidar.py)
 
 ## Coming soon
-* Visualization of lidar data on client side.
\ No newline at end of file
+* Visualization of lidar data on client side.