A light detection and ranging system (600; 700) comprising: a) an optical transmitter comprising a plurality of lasers (604; 706), each of the plurality of lasers illuminating a field-of-view (502; 532; 562) in an illumination region; b) a transmitter controller having a plurality of electrical outputs, each of the plurality of electrical outputs of the transmitter controller being electrically connected to an input of one of the plurality of lasers (604; 706), the transmitter controller being configured to generate electrical pulses at the plurality of electrical outputs so that the plurality of lasers generate light in a desired pattern in the illumination region; and c) an optical receiver (614; 710) having an input comprising a field-of-view (506; 536; 566) in the illumination region and comprising: a plurality of detectors, each having a field-of-view (504; 534; 564) in the illumination region and being positioned to detect light in the illumination region; and a time-of-flight measurement circuit that measures the time-of-flight of light from the plurality of lasers (604; 706) to the plurality of detectors, wherein the optical receiver (614; 710) calculates range information from the time-of-flight measurements; characterized in that the system further comprises: d) an adaptive optical mirror (602; 712) positioned between the optical transmitter and the optical receiver (614; 710) and having a reflected region field-of-view in the illumination region, the reflected region field-of-view being a region of the adaptive optical mirror that is configured to reflect light to the plurality of detectors, wherein the optical mirror is arranged to restrict illumination at the input of the optical receiver to a region which is smaller than the field-of-view (506; 536; 566) of the input of the optical receiver and to create a 2D matrix of mirrors that can be controlled such that a portion of light is reflected in one direction to the plurality of detectors whilst the remainder of the light is deflected in a different direction, and wherein the portion of light that is reflected to the plurality of detectors corresponds to the desired field-of-view for a measurement. a) an optical transmitter comprising a plurality of lasers (604; 706), each of the plurality of lasers illuminating a field-of-view (502; 532; 562) in an illumination region; b) a transmitter controller having a plurality of electrical outputs, each of the plurality of electrical outputs of the transmitter controller being electrically connected to an input of one of the plurality of lasers (604; 706), the transmitter controller being configured to generate electrical pulses at the plurality of electrical outputs so that the plurality of lasers generate light in a desired pattern in the illumination region; and c) an optical receiver (614; 710) having an input comprising a field-of-view (506; 536; 566) in the illumination region and comprising: a plurality of detectors, each having a field-of-view (504; 534; 564) in the illumination region and being positioned to detect light in the illumination region; and a time-of-flight measurement circuit that measures the time-of-flight of light from the plurality of lasers (604; 706) to the plurality of detectors, wherein the optical receiver (614; 710) calculates range information from the time-of-flight measurements;