A system comprising: a first lidar sensor comprising: a first scanner configured to scan a first set of pulses of light along a first scan pattern, wherein the first scan pattern comprises a first-scan-pattern x-component and a first-scan-pattern y-component; and a first receiver configured to detect scattered light from the first set of pulses of light; a second lidar sensor comprising: a second scanner configured to scan a different second set of pulses of light along a second scan pattern, wherein the first scan pattern and the second scan pattern are at least partially overlapped, and the second scan pattern comprises a second-scan-pattern x-component and a second-scan-pattern y-component; and a second receiver configured to detect scattered light from the second set of pulses of light; the system being characterized in that the first scan pattern and the second scan pattern are scanned out of synchronization with respect to one another, wherein the first-scan-pattern y-component is inverted with respect to the second-scan-pattern y-component; and in that the system further comprises an enclosure, wherein: the first lidar sensor and the second lidar sensor are contained within the enclosure; and the enclosure comprises a window configured to transmit the first set of pulses of light and the second set of pulses of light. a first lidar sensor comprising: a first scanner configured to scan a first set of pulses of light along a first scan pattern, wherein the first scan pattern comprises a first-scan-pattern x-component and a first-scan-pattern y-component; and a first receiver configured to detect scattered light from the first set of pulses of light; a first scanner configured to scan a first set of pulses of light along a first scan pattern, wherein the first scan pattern comprises a first-scan-pattern x-component and a first-scan-pattern y-component; and a first receiver configured to detect scattered light from the first set of pulses of light; a second lidar sensor comprising: a second scanner configured to scan a different second set of pulses of light along a second scan pattern, wherein the first scan pattern and the second scan pattern are at least partially overlapped, and the second scan pattern comprises a second-scan-pattern x-component and a second-scan-pattern y-component; and a second receiver configured to detect scattered light from the second set of pulses of light; the system being characterized in that the first scan pattern and the second scan pattern are scanned out of synchronization with respect to one another, wherein the first-scan-pattern y-component is inverted with respect to the second-scan-pattern y-component; and in that the system further comprises an enclosure, wherein: the first lidar sensor and the second lidar sensor are contained within the enclosure; and the enclosure comprises a window configured to transmit the first set of pulses of light and the second set of pulses of light. a second scanner configured to scan a different second set of pulses of light along a second scan pattern, wherein the first scan pattern and the second scan pattern are at least partially overlapped, and the second scan pattern comprises a second-scan-pattern x-component and a second-scan-pattern y-component; and a second receiver configured to detect scattered light from the second set of pulses of light; the system being characterized in that the first scan pattern and the second scan pattern are scanned out of synchronization with respect to one another, wherein the first-scan-pattern y-component is inverted with respect to the second-scan-pattern y-component; and in that the system further comprises an enclosure, wherein: the first lidar sensor and the second lidar sensor are contained within the enclosure; and the enclosure comprises a window configured to transmit the first set of pulses of light and the second set of pulses of light. the first lidar sensor and the second lidar sensor are contained within the enclosure; and the enclosure comprises a window configured to transmit the first set of pulses of light and the second set of pulses of light.