A light detection and ranging (LIDAR) device (100, 200), comprising: a first clock; a master controller associated with the first clock and configured to generate a pulsed command signal based on the first clock; a plurality of pulsed illumination sources (160, 212A-C) each configured to emit a pulse of illumination light from the LIDAR device (100,200) in different directions into a three dimensional environment; a plurality of photosensitive detectors each configured to detect an amount of return light reflected from the three dimensional environment illuminated by each pulse of illumination light and to generate an output signal indicative of the detected amount of return light associated with each pulse of illumination light; a beam scanning device disposed in an optical path between the plurality of pulsed illumination sources (160, 212A- C) and the three dimensional environment under measurement, and between the plurality of photosensitive detectors and the three dimensional environment under measurement, the beam scanning device configured to redirect each pulse of illumination light in response to a command signal; and a receiver circuit coupled to the master controller and configured to receive the pulsed command signal from the master controller, and in response, generate a trigger signal based on a second internal clock that: triggers an illumination source in the plurality of pulsed illumination sources to emit a pulse of illumination light; and triggers data acquisition of a return signal based on data collected during a measurement window, the duration of which corresponds with a window of time that is open to collect light from the pulse of illumination light returned after being reflected off an object located within the range of the LIDAR device; and wherein the master controller is further configured to: receive a signal indicative of the estimated time of flight from the receiver circuit; and determine a distance between the LIDAR device (100, 200) and an object in the three dimensional environment based on a difference between detection of a first pulse at a first time due to internal cross-talk between the illumination source and photosensitive detector and a second time (181B, 181C) when the photosensitive detector detects an amount of light reflected from the object illuminated by the pulse of illumination light. a first clock; a master controller associated with the first clock and configured to generate a pulsed command signal based on the first clock; a plurality of pulsed illumination sources (160, 212A-C) each configured to emit a pulse of illumination light from the LIDAR device (100,200) in different directions into a three dimensional environment; a plurality of photosensitive detectors each configured to detect an amount of return light reflected from the three dimensional environment illuminated by each pulse of illumination light and to generate an output signal indicative of the detected amount of return light associated with each pulse of illumination light; a beam scanning device disposed in an optical path between the plurality of pulsed illumination sources (160, 212A- C) and the three dimensional environment under measurement, and between the plurality of photosensitive detectors and the three dimensional environment under measurement, the beam scanning device configured to redirect each pulse of illumination light in response to a command signal; and a receiver circuit coupled to the master controller and configured to receive the pulsed command signal from the master controller, and in response, generate a trigger signal based on a second internal clock that: triggers an illumination source in the plurality of pulsed illumination sources to emit a pulse of illumination light; and triggers data acquisition of a return signal based on data collected during a measurement window, the duration of which corresponds with a window of time that is open to collect light from the pulse of illumination light returned after being reflected off an object located within the range of the LIDAR device; and triggers an illumination source in the plurality of pulsed illumination sources to emit a pulse of illumination light; and triggers data acquisition of a return signal based on data collected during a measurement window, the duration of which corresponds with a window of time that is open to collect light from the pulse of illumination light returned after being reflected off an object located within the range of the LIDAR device; and wherein the master controller is further configured to: receive a signal indicative of the estimated time of flight from the receiver circuit; and determine a distance between the LIDAR device (100, 200) and an object in the three dimensional environment based on a difference between detection of a first pulse at a first time due to internal cross-talk between the illumination source and photosensitive detector and a second time (181B, 181C) when the photosensitive detector detects an amount of light reflected from the object illuminated by the pulse of illumination light. receive a signal indicative of the estimated time of flight from the receiver circuit; and determine a distance between the LIDAR device (100, 200) and an object in the three dimensional environment based on a difference between detection of a first pulse at a first time due to internal cross-talk between the illumination source and photosensitive detector and a second time (181B, 181C) when the photosensitive detector detects an amount of light reflected from the object illuminated by the pulse of illumination light.