A sensor device, comprising: an electromagnetic energy emitter module positioned to emit an electromagnetic energy beam directed to one or more objects within a first field of view; a beam steering module (414, 1001) positioned to receive at least a portion of the electromagnetic energy beam that is reflected from the one or more objects within a second field of view; and an array of semiconductor receiver units (180, 412, 500, 600, 1501) positioned to convert the portion of the electromagnetic energy beam into multiple electrical signals, wherein the beam steering module (414, 1001) is further positioned to direct the portion of the electromagnetic energy beam to the array of semiconductor receiver units (180, 412, 500, 600, 1501), with individual semiconductor receiver units (180, 412, 500, 600, 1501) positioned to detect multiple optical signals from the portion of the electromagnetic energy beam, the multiple optical signals being sequential in a time domain, and convert the multiple optical signals into electrical signals, wherein the sensor device is characterized in that the beam steering module (414, 1001) comprises: an optical element (404, 1003, 1005) that includes a first surface and a second, non-parallel surface, the first surface and the second surface forming an optical element angle, wherein the optical element (404, 1003, 1005) is positioned to rotate at an angular speed about an axis (305, 405) to direct the portion of the electromagnetic energy beam to the array of semiconductor receiver units (180, 412, 500, 600, 1501), with individual semiconductor receiver units (180, 412, 500, 600, 1501) positioned to detect, along a closed path (802, 902) corresponding to the optical element angle, multiple optical signals from the portion of the electromagnetic energy beam. an electromagnetic energy emitter module positioned to emit an electromagnetic energy beam directed to one or more objects within a first field of view; a beam steering module (414, 1001) positioned to receive at least a portion of the electromagnetic energy beam that is reflected from the one or more objects within a second field of view; and an array of semiconductor receiver units (180, 412, 500, 600, 1501) positioned to convert the portion of the electromagnetic energy beam into multiple electrical signals, wherein the beam steering module (414, 1001) is further positioned to direct the portion of the electromagnetic energy beam to the array of semiconductor receiver units (180, 412, 500, 600, 1501), with individual semiconductor receiver units (180, 412, 500, 600, 1501) positioned to detect multiple optical signals from the portion of the electromagnetic energy beam, the multiple optical signals being sequential in a time domain, and convert the multiple optical signals into electrical signals, wherein the sensor device is characterized in that an optical element (404, 1003, 1005) that includes a first surface and a second, non-parallel surface, the first surface and the second surface forming an optical element angle, wherein the optical element (404, 1003, 1005) is positioned to rotate at an angular speed about an axis (305, 405) to direct the portion of the electromagnetic energy beam to the array of semiconductor receiver units (180, 412, 500, 600, 1501), with individual semiconductor receiver units (180, 412, 500, 600, 1501) positioned to detect, along a closed path (802, 902) corresponding to the optical element angle, multiple optical signals from the portion of the electromagnetic energy beam.