A light detection and ranging (LIDAR) device (10, 100), comprising: a plurality of pulsed illumination sources emitting pulses of illumination light from the LIDAR device (10, 100) into a three dimensional environment; a plurality of photosensitive detectors, wherein each photosensitive detector detects an amount of light reflected from the three dimensional environment illuminated by the pulses of illumination light emitted by a corresponding pulsed illumination source of the plurality of pulsed illumination sources, and wherein each photosensitive detector generates an output signal indicative of the detected amount of light associated with the pulses of illumination light emitted by the corresponding pulsed illumination source; and a computing system configured to: receive the plurality of output signals indicative of the detected amounts of light; determine a distance between the LIDAR device (10, 100) and an object in the three dimensional environment based on a difference between a time when each pulse of illumination light is emitted from the LIDAR device (10, 100) and a time when each corresponding photosensitive detector detects an amount of light reflected from the three dimensional environment illuminated by the pulse of illumination light; and adjust a number of the plurality of illumination sources emitting pulses of illumination light from the LIDAR device (10, 100) during operation of the LIDAR device (10, 100), characterized in that each of the plurality of pulsed illumination sources and each of the plurality of photosensitive detectors are mounted to a rotating frame of the LIDAR device (10, 100) that rotates with respect to a base frame of the LIDAR device (10, 100), and wherein the LIDAR device (10, 100) also includes: an orientation sensor configured to detect an orientation of the rotating frame with respect to the base frame, and wherein the adjustment of the number of the plurality of illumination sources emitting pulses of illumination light from the LIDAR device (10, 100) is based on the orientation of the rotating frame with respect to the base frame. a plurality of pulsed illumination sources emitting pulses of illumination light from the LIDAR device (10, 100) into a three dimensional environment; a plurality of photosensitive detectors, wherein each photosensitive detector detects an amount of light reflected from the three dimensional environment illuminated by the pulses of illumination light emitted by a corresponding pulsed illumination source of the plurality of pulsed illumination sources, and wherein each photosensitive detector generates an output signal indicative of the detected amount of light associated with the pulses of illumination light emitted by the corresponding pulsed illumination source; and a computing system configured to: receive the plurality of output signals indicative of the detected amounts of light; determine a distance between the LIDAR device (10, 100) and an object in the three dimensional environment based on a difference between a time when each pulse of illumination light is emitted from the LIDAR device (10, 100) and a time when each corresponding photosensitive detector detects an amount of light reflected from the three dimensional environment illuminated by the pulse of illumination light; and adjust a number of the plurality of illumination sources emitting pulses of illumination light from the LIDAR device (10, 100) during operation of the LIDAR device (10, 100), receive the plurality of output signals indicative of the detected amounts of light; determine a distance between the LIDAR device (10, 100) and an object in the three dimensional environment based on a difference between a time when each pulse of illumination light is emitted from the LIDAR device (10, 100) and a time when each corresponding photosensitive detector detects an amount of light reflected from the three dimensional environment illuminated by the pulse of illumination light; and adjust a number of the plurality of illumination sources emitting pulses of illumination light from the LIDAR device (10, 100) during operation of the LIDAR device (10, 100), characterized in that each of the plurality of pulsed illumination sources and each of the plurality of photosensitive detectors are mounted to a rotating frame of the LIDAR device (10, 100) that rotates with respect to a base frame of the LIDAR device (10, 100), and wherein the LIDAR device (10, 100) also includes: an orientation sensor configured to detect an orientation of the rotating frame with respect to the base frame, and wherein the adjustment of the number of the plurality of illumination sources emitting pulses of illumination light from the LIDAR device (10, 100) is based on the orientation of the rotating frame with respect to the base frame.