A method for sensing one or more objects using a sensor system (110, 210) including a detector (102, 204, 1502) with a plurality of detection units and a planar plate lens arranged in front of the detector (102, 204, 1502), comprising: generating, via the detector (102, 204, 1502), a first set of electrical signals based on received photon energy of a first light beam that is reflected back from a first plurality of points on one or more objects in a first configuration of the sensor system, wherein the first set of electrical signals corresponds to a first set of pixels in a first data frame; determining, via a data processor, distance information of the first plurality of points on the one or more objects based on the first set of electrical signals; switching, via the detector (102, 204, 1502), between the first configuration and a second configuration to cause a pixel shift between the first set of pixels and a second set of pixels, wherein the first configuration and the second configuration are different, wherein an offset of the pixel shift is larger or smaller than a multiplier of a pixel size or a pitch size between neighboring pixels; generating, via the detector (102, 204, 1502), a second set of electrical signals based on received photon energy of a second light beam that is reflected back from a second plurality of points on the one or more objects in the second configuration of the sensor system, wherein the second set of electrical signals correspond to the second set of pixels in a second data frame; determining, via the data processor, distance information of the second plurality of points on the one or more objects based on the second set of electrical signals; and generating, via the data processor, a resultant data frame with a higher resolution than the first data frame and the second data frame based on the first data frame associated with the first set of pixels and the second data frame associated with the second set of pixels, wherein each pixel of the resultant data frame is calculated based on distance information in overlapped pixels in the first data frame and in the second data frame; and wherein the method is characterized by configuring the planar plate lens at a first angle perpendicular to an incoming light beam in the first configuration, configuring the planar plate lens at a second angle relative to the incoming light beam in the second configuration, and rotating the planar plate lens between the first angle and the second angle about an axis perpendicular to the incoming light beam, wherein after rotating the planar plate lens the second light beam is parallel to the incoming light beam and has the offset of the pixel shift with respect to the incoming light beam. generating, via the detector (102, 204, 1502), a first set of electrical signals based on received photon energy of a first light beam that is reflected back from a first plurality of points on one or more objects in a first configuration of the sensor system, wherein the first set of electrical signals corresponds to a first set of pixels in a first data frame; determining, via a data processor, distance information of the first plurality of points on the one or more objects based on the first set of electrical signals; switching, via the detector (102, 204, 1502), between the first configuration and a second configuration to cause a pixel shift between the first set of pixels and a second set of pixels, wherein the first configuration and the second configuration are different, wherein an offset of the pixel shift is larger or smaller than a multiplier of a pixel size or a pitch size between neighboring pixels; generating, via the detector (102, 204, 1502), a second set of electrical signals based on received photon energy of a second light beam that is reflected back from a second plurality of points on the one or more objects in the second configuration of the sensor system, wherein the second set of electrical signals correspond to the second set of pixels in a second data frame; determining, via the data processor, distance information of the second plurality of points on the one or more objects based on the second set of electrical signals; and generating, via the data processor, a resultant data frame with a higher resolution than the first data frame and the second data frame based on the first data frame associated with the first set of pixels and the second data frame associated with the second set of pixels, wherein each pixel of the resultant data frame is calculated based on distance information in overlapped pixels in the first data frame and in the second data frame; and wherein the method is characterized by configuring the planar plate lens at a first angle perpendicular to an incoming light beam in the first configuration, configuring the planar plate lens at a second angle relative to the incoming light beam in the second configuration, and rotating the planar plate lens between the first angle and the second angle about an axis perpendicular to the incoming light beam, wherein after rotating the planar plate lens the second light beam is parallel to the incoming light beam and has the offset of the pixel shift with respect to the incoming light beam.