A light detection and ranging, "LIDAR", system arranged to survey a scene, the system comprising: a light source arranged to output light having a first characteristic; a spatial light modulator, "SLM", arranged to receive the light from the light source and output spatially-modulated light in accordance with computer-generated holograms displayed on the spatial light modulator; a holographic controller arranged to output a plurality of computer-generated holograms to the spatial light modulator, wherein each computer-generated hologram is arranged to form structured light having a corresponding pattern in a replay field within the scene, and the holographic controller is further arranged to change the pattern of the structured light formed in the replay field by at least one of the plurality of computer-generated holograms; a light detector arranged to receive light having the first characteristic from the scene and output a light response signal, wherein the light detector comprises an array of light detecting elements, and an optical system associated with the array of light detecting elements, the optical system arranged such that each light detecting element receives light having the first characteristic from a respective sub-area of the replay field within the scene, wherein at least one of the plurality of computer-generated holograms is arranged to form a pattern of structured light comprising a plurality of discrete light spots of uniform brightness having a particular shape, wherein the light spots are spatially separated from each other and each light spot is arranged to illuminate a corresponding sub-area of the replay field within the scene. a light source arranged to output light having a first characteristic; a spatial light modulator, "SLM", arranged to receive the light from the light source and output spatially-modulated light in accordance with computer-generated holograms displayed on the spatial light modulator; a holographic controller arranged to output a plurality of computer-generated holograms to the spatial light modulator, wherein each computer-generated hologram is arranged to form structured light having a corresponding pattern in a replay field within the scene, and the holographic controller is further arranged to change the pattern of the structured light formed in the replay field by at least one of the plurality of computer-generated holograms; a light detector arranged to receive light having the first characteristic from the scene and output a light response signal, wherein the light detector comprises an array of light detecting elements, and an optical system associated with the array of light detecting elements, the optical system arranged such that each light detecting element receives light having the first characteristic from a respective sub-area of the replay field within the scene, wherein at least one of the plurality of computer-generated holograms is arranged to form a pattern of structured light comprising a plurality of discrete light spots of uniform brightness having a particular shape, wherein the light spots are spatially separated from each other and each light spot is arranged to illuminate a corresponding sub-area of the replay field within the scene.