A LIDAR system for ranging an object using primary light and secondary light reflected at the object, the LIDAR system comprising: - a laser, arranged to emit the primary light along a transmit beam towards a scanning element of the LIDAR system, wherein at least a part of the transmit beam adjacent to the scanning element defines a center line, - a detector, arranged to detect the secondary light along a receive beam, wherein the receive beam comprises a first part aligned with the center line and a second part having an inclination with respect to the center line, wherein the second part of the receive beam is in-between the first part of the receive beam and the detector, and - a segmented lens, positioned on the center line in-between the first part of the receive beam and the second part of the receive beam, the segmented lens comprising: a transmit segment associated with the transmit beam, wherein the transmit segment includes a transmit lens element having a transmit surface and being configured to collimate the transmit beam and a receive segment associated with the receive beam, wherein the receive segment includes a first receive lens element having a first receive surface and a second receive lens element having a second receive surface and wherein the first receive surface and the second receive surface have different geometrical lens parameters, wherein the first receive surface, the second receive surface and the transmit surface are connected via continuous transitions, and wherein the receive segment is arranged to focus the receive beam onto the detector. - a laser, arranged to emit the primary light along a transmit beam towards a scanning element of the LIDAR system, wherein at least a part of the transmit beam adjacent to the scanning element defines a center line, - a detector, arranged to detect the secondary light along a receive beam, wherein the receive beam comprises a first part aligned with the center line and a second part having an inclination with respect to the center line, wherein the second part of the receive beam is in-between the first part of the receive beam and the detector, and - a segmented lens, positioned on the center line in-between the first part of the receive beam and the second part of the receive beam, the segmented lens comprising: a transmit segment associated with the transmit beam, wherein the transmit segment includes a transmit lens element having a transmit surface and being configured to collimate the transmit beam and a receive segment associated with the receive beam, wherein the receive segment includes a first receive lens element having a first receive surface and a second receive lens element having a second receive surface and wherein the first receive surface and the second receive surface have different geometrical lens parameters, wherein the first receive surface, the second receive surface and the transmit surface are connected via continuous transitions, and wherein the receive segment is arranged to focus the receive beam onto the detector. a transmit segment associated with the transmit beam, wherein the transmit segment includes a transmit lens element having a transmit surface and being configured to collimate the transmit beam and a receive segment associated with the receive beam, wherein the receive segment includes a first receive lens element having a first receive surface and a second receive lens element having a second receive surface and wherein the first receive surface and the second receive surface have different geometrical lens parameters, wherein the first receive surface, the second receive surface and the transmit surface are connected via continuous transitions, and wherein the receive segment is arranged to focus the receive beam onto the detector.