A light detection and ranging, LiDAR, remote sensing system, comprising: a common optical path comprising a combination of optical devices; two transmitters (1012, 1014) that transmit light pulses having distinguishable polarization states through the common optical path to an object field, wherein the combination of optical devices combine the light pulses emitted by the two transmitters (1012, 1014); and two receivers (1022, 1024) that detect reflections of the transmitted light received at the system through the common optical path, wherein the combination of optical devices separate reflections of the light pulses emitted by the two transmitters (1012, 1014) with distinguishable polarization states, wherein the two receivers (1022, 1024) include: a short-range optical system including a plurality of refractive lens elements that refract a portion of the light reflected from a range of 20 meters or less to a first sensor that captures the light, wherein field of view of the short-range optical system is between 45 and 65 degrees, and wherein F-number of the short-range optical system is 2.0 or less; and a long-range optical system including a plurality of refractive lens elements that refract a portion of the light reflected from a range of 20 meters or more to a second sensor that captures the light, wherein field of view of the long-range optical system is 15 degrees or less, and wherein F-number of the long-range optical system is 1.2 or less. a common optical path comprising a combination of optical devices; two transmitters (1012, 1014) that transmit light pulses having distinguishable polarization states through the common optical path to an object field, wherein the combination of optical devices combine the light pulses emitted by the two transmitters (1012, 1014); and two receivers (1022, 1024) that detect reflections of the transmitted light received at the system through the common optical path, wherein the combination of optical devices separate reflections of the light pulses emitted by the two transmitters (1012, 1014) with distinguishable polarization states, wherein the two receivers (1022, 1024) include: a short-range optical system including a plurality of refractive lens elements that refract a portion of the light reflected from a range of 20 meters or less to a first sensor that captures the light, wherein field of view of the short-range optical system is between 45 and 65 degrees, and wherein F-number of the short-range optical system is 2.0 or less; and a long-range optical system including a plurality of refractive lens elements that refract a portion of the light reflected from a range of 20 meters or more to a second sensor that captures the light, wherein field of view of the long-range optical system is 15 degrees or less, and wherein F-number of the long-range optical system is 1.2 or less. a short-range optical system including a plurality of refractive lens elements that refract a portion of the light reflected from a range of 20 meters or less to a first sensor that captures the light, wherein field of view of the short-range optical system is between 45 and 65 degrees, and wherein F-number of the short-range optical system is 2.0 or less; and a long-range optical system including a plurality of refractive lens elements that refract a portion of the light reflected from a range of 20 meters or more to a second sensor that captures the light, wherein field of view of the long-range optical system is 15 degrees or less, and wherein F-number of the long-range optical system is 1.2 or less.