A light detection and ranging, LiDAR, device comprising: a light emitter configured to emit light; a first light detector; and a second light detector, wherein the first light detector comprises: a first optical antenna element having a first directivity with respect to a first direction; and a first light detection element configured to detect first reflected light received by the first optical antenna element, wherein the second light detector comprises: a second optical antenna element having a second directivity with respect to a second direction different from the first direction; and a second light detection element configured to detect second reflected light received by the second optical antenna element, and characterized in that: the light emitter is configured to emit first light and second light to a first object and a second object, respectively; the second light is emitted from the light emitter before an effective measurement time elapses from when the first light is emitted from the light emitter; the first reflected light is light incident on the first optical antenna element among reflected pieces of light emitted as the first light that is reflected by the first object in the first direction; the second reflected light is light incident on the second optical antenna element among reflected pieces of light emitted as the second light that is reflected by the second object in the second direction; the effective measurement time is a time for determining at least one of a horizontal resolution, a vertical resolution, and a maximum measurement distance of the LiDAR device. a light emitter configured to emit light; a first light detector; and a second light detector, wherein the first light detector comprises: a first optical antenna element having a first directivity with respect to a first direction; and a first light detection element configured to detect first reflected light received by the first optical antenna element, a first optical antenna element having a first directivity with respect to a first direction; and a first light detection element configured to detect first reflected light received by the first optical antenna element, wherein the second light detector comprises: a second optical antenna element having a second directivity with respect to a second direction different from the first direction; and a second light detection element configured to detect second reflected light received by the second optical antenna element, a second optical antenna element having a second directivity with respect to a second direction different from the first direction; and a second light detection element configured to detect second reflected light received by the second optical antenna element, and characterized in that: the light emitter is configured to emit first light and second light to a first object and a second object, respectively; the second light is emitted from the light emitter before an effective measurement time elapses from when the first light is emitted from the light emitter; the first reflected light is light incident on the first optical antenna element among reflected pieces of light emitted as the first light that is reflected by the first object in the first direction; the second reflected light is light incident on the second optical antenna element among reflected pieces of light emitted as the second light that is reflected by the second object in the second direction; the effective measurement time is a time for determining at least one of a horizontal resolution, a vertical resolution, and a maximum measurement distance of the LiDAR device. the light emitter is configured to emit first light and second light to a first object and a second object, respectively; the second light is emitted from the light emitter before an effective measurement time elapses from when the first light is emitted from the light emitter; the first reflected light is light incident on the first optical antenna element among reflected pieces of light emitted as the first light that is reflected by the first object in the first direction; the second reflected light is light incident on the second optical antenna element among reflected pieces of light emitted as the second light that is reflected by the second object in the second direction; the effective measurement time is a time for determining at least one of a horizontal resolution, a vertical resolution, and a maximum measurement distance of the LiDAR device.