A detection system for a vehicle in an environment, comprising: a reflective member configured to rotate about a first axis, the reflective member having a plurality of reflective sides; a first LiDAR system including at least one first light transmitter and at least one first light receiver; a second LiDAR system including at least one second light transmitter and at least one second light receiver; a first wedge mirror: configured to rotate about a second axis, the first wedge mirror having a first surface at an angle to a plane orthogonal to the second axis and the first surface not being perpendicular to the second axis; and positioned such that the first surface is configured to deflect light from the first LiDAR system to a first active side of the reflective sides of the reflective member, the first wedge mirror further positioned such that the optical path of the first LiDAR system interacts with an area of the first surface offset from a center of the first surface such that an optical path of the first LiDAR system interacts with an area of the first surface such that rotation of the first wedge mirror changes a field of view of the first LiDAR system in an elevation direction and in an azimuth direction; and a second wedge mirror: configured to rotate about a third axis, the second wedge mirror having a second surface at an angle to a plane orthogonal to the third axis and the second surface not being perpendicular to the third axis; and positioned such that the second surface is configured to deflect light from the second LiDAR system to a second, different from the first, active side of the reflective sides of the reflective member, the second wedge mirror further positioned such that the optical path of the second LiDAR system interacts with an area of the second surface offset from a center of the second surface such that an optical path of the second LiDAR system interacts with an area of the second surface such that rotation of the second wedge mirror changes a field of view of the second LiDAR system in the elevation direction and in the azimuth direction, wherein, the reflective member is positioned such that rotation of the reflective member changes the field of view of the first and second LiDAR systems (102a, b) in the azimuth direction, wherein the system includes a first actuator configured to rotate the first wedge mirror at a first speed; a second actuator configured to rotate the second wedge mirror at a second speed; and a third actuator configured to rotate the reflective member at a third speed, wherein the third speed is faster than the first speed and the third speed is faster than the second speed. a reflective member configured to rotate about a first axis, the reflective member having a plurality of reflective sides; a first LiDAR system including at least one first light transmitter and at least one first light receiver; a second LiDAR system including at least one second light transmitter and at least one second light receiver; a first wedge mirror: configured to rotate about a second axis, the first wedge mirror having a first surface at an angle to a plane orthogonal to the second axis and the first surface not being perpendicular to the second axis; and positioned such that the first surface is configured to deflect light from the first LiDAR system to a first active side of the reflective sides of the reflective member, the first wedge mirror further positioned such that the optical path of the first LiDAR system interacts with an area of the first surface offset from a center of the first surface such that an optical path of the first LiDAR system interacts with an area of the first surface such that rotation of the first wedge mirror changes a field of view of the first LiDAR system in an elevation direction and in an azimuth direction; and a second wedge mirror: configured to rotate about a third axis, the second wedge mirror having a second surface at an angle to a plane orthogonal to the third axis and the second surface not being perpendicular to the third axis; and positioned such that the second surface is configured to deflect light from the second LiDAR system to a second, different from the first, active side of the reflective sides of the reflective member, the second wedge mirror further positioned such that the optical path of the second LiDAR system interacts with an area of the second surface offset from a center of the second surface such that an optical path of the second LiDAR system interacts with an area of the second surface such that rotation of the second wedge mirror changes a field of view of the second LiDAR system in the elevation direction and in the azimuth direction, wherein, the reflective member is positioned such that rotation of the reflective member changes the field of view of the first and second LiDAR systems (102a, b) in the azimuth direction, wherein the system includes a first actuator configured to rotate the first wedge mirror at a first speed; a second actuator configured to rotate the second wedge mirror at a second speed; and a third actuator configured to rotate the reflective member at a third speed, wherein the third speed is faster than the first speed and the third speed is faster than the second speed.