A coherent LIDAR imaging system comprising: ∘ a laser source configured to emit a laser radiation having a temporally modulated optical frequency (F L), ∘ an optical separation/recombination device comprising at least: • one optical separation device adapted to spatially separate the laser radiation into a beam called reference beam (L ref) directed towards an optical imaging device (Im), and into a beam called object beam (L o) directed towards a scene to be illuminated (Obj) • an optical recombination device adapted to spatially superimpose the reference beam (L ref) on a portion of the object beam reflected by said scene, called reflected object beam (L or); ∘ the optical imaging device (Im) having an optical axis, producing an image of the illuminated scene on a detector (Det) by focusing the reflected object beam (L or), ∘ the detector (Det) comprising a matrix of pixels P i, i∈[1,n], each of the pixels P i comprising a photodetector (Ph) adapted to detect a portion (L or,i) of the reflected object beam (L or) and a portion (L ref,i) of the reference beam (L ref) which together form a portion of a recombined beam (L rec) having a beat frequency representative of a distance from the illuminated scene; ∘ a processor connected to the detector (Det) and to the laser source, and configured to determine a distance of points from the scene, imaged on said pixels and construct an image of distance from said scene, from the beat frequency (F i) associated with each pixel P i and from the modulated optical frequency of the laser radiation; ∘ characterised in that: • said optical separation/recombination device is further configured to form an image, called intermediate image, of the reference beam (L ref) in a plane perpendicular to said optical axis, called intermediate image plane, - the position of the intermediate image plane on the optical axis being comprised in a segment (MM') along the optical axis corresponding to the projection on the optical axis of an intersection area (Zc) between sub-beams of the reflected object beam (L or), said sub-beams being full light field edge beams. ∘ a laser source configured to emit a laser radiation having a temporally modulated optical frequency (F L), ∘ an optical separation/recombination device comprising at least: • one optical separation device adapted to spatially separate the laser radiation into a beam called reference beam (L ref) directed towards an optical imaging device (Im), and into a beam called object beam (L o) directed towards a scene to be illuminated (Obj) • an optical recombination device adapted to spatially superimpose the reference beam (L ref) on a portion of the object beam reflected by said scene, called reflected object beam (L or); • one optical separation device adapted to spatially separate the laser radiation into a beam called reference beam (L ref) directed towards an optical imaging device (Im), and into a beam called object beam (L o) directed towards a scene to be illuminated (Obj) • an optical recombination device adapted to spatially superimpose the reference beam (L ref) on a portion of the object beam reflected by said scene, called reflected object beam (L or); ∘ the optical imaging device (Im) having an optical axis, producing an image of the illuminated scene on a detector (Det) by focusing the reflected object beam (L or), ∘ the detector (Det) comprising a matrix of pixels P i, i∈[1,n], each of the pixels P i comprising a photodetector (Ph) adapted to detect a portion (L or,i) of the reflected object beam (L or) and a portion (L ref,i) of the reference beam (L ref) which together form a portion of a recombined beam (L rec) having a beat frequency representative of a distance from the illuminated scene; ∘ a processor connected to the detector (Det) and to the laser source, and configured to determine a distance of points from the scene, imaged on said pixels and construct an image of distance from said scene, from the beat frequency (F i) associated with each pixel P i and from the modulated optical frequency of the laser radiation; ∘ characterised in that: • said optical separation/recombination device is further configured to form an image, called intermediate image, of the reference beam (L ref) in a plane perpendicular to said optical axis, called intermediate image plane, - the position of the intermediate image plane on the optical axis being comprised in a segment (MM') along the optical axis corresponding to the projection on the optical axis of an intersection area (Zc) between sub-beams of the reflected object beam (L or), said sub-beams being full light field edge beams. • said optical separation/recombination device is further configured to form an image, called intermediate image, of the reference beam (L ref) in a plane perpendicular to said optical axis, called intermediate image plane, - the position of the intermediate image plane on the optical axis being comprised in a segment (MM') along the optical axis corresponding to the projection on the optical axis of an intersection area (Zc) between sub-beams of the reflected object beam (L or), said sub-beams being full light field edge beams. - the position of the intermediate image plane on the optical axis being comprised in a segment (MM') along the optical axis corresponding to the projection on the optical axis of an intersection area (Zc) between sub-beams of the reflected object beam (L or), said sub-beams being full light field edge beams.