A lidar vision system for a vehicle comprising - a light source comprising a laser arranged on an emitting side , adapted to emit a light beam to a scanned surface in the environment of the vehicle ; - an optical component adapted to deflect a portion of the light beam through a first lens system towards the scanned surface and to scan the environment ; - at least one light deflection device arranged on a receiving side , comprising an array of light deflection elements , wherein each light deflection element is adapted to redirect light which is incident on said light deflection element from the scanned surface , and to change the direction of the redirected light between at least a first deflection direction and a second deflection direction; - a lidar light sensing device arranged on the receiving side to sense light redirected from the light deflection device in said first deflection direction; - a data processing unit ; wherein the light source , the lidar light sensing device , and the data processing unit form a LIDAR system adapted to measure time-of-flight values, wherein said data processing unit is adapted to compute depth images based on the time-of-flight values, such that a depth image is recorded with the LIDAR light sensing device , characterized in that - said vision system comprises a detecting device arranged on the receiving side to sense light redirected from the light deflection device in the second deflection direction; - the data processing unit is adapted to process the data provided by said lidar light sensing device and by said detecting device in a combined manner; the detecting device is adapted to deliver information to the data processing unit that is complementary to the data by the lidar light sensing device , namely, RGB, greyscale or polarimetric images, such that the lidar light sensing device and the detecting device record complementary data from the vehicle's environment , wherein the complementary data are combined to a fused image by data fusion in the data processing unit . - a light source comprising a laser arranged on an emitting side , adapted to emit a light beam to a scanned surface in the environment of the vehicle ; - an optical component adapted to deflect a portion of the light beam through a first lens system towards the scanned surface and to scan the environment ; - at least one light deflection device arranged on a receiving side , comprising an array of light deflection elements , wherein each light deflection element is adapted to redirect light which is incident on said light deflection element from the scanned surface , and to change the direction of the redirected light between at least a first deflection direction and a second deflection direction; - a lidar light sensing device arranged on the receiving side to sense light redirected from the light deflection device in said first deflection direction; - a data processing unit ; wherein the light source , the lidar light sensing device , and the data processing unit form a LIDAR system adapted to measure time-of-flight values, wherein said data processing unit is adapted to compute depth images based on the time-of-flight values, such that a depth image is recorded with the LIDAR light sensing device , characterized in that wherein the light source , the lidar light sensing device , and the data processing unit form a LIDAR system adapted to measure time-of-flight values, wherein said data processing unit is adapted to compute depth images based on the time-of-flight values, such that a depth image is recorded with the LIDAR light sensing device , characterized in that - said vision system comprises a detecting device arranged on the receiving side to sense light redirected from the light deflection device in the second deflection direction; - the data processing unit is adapted to process the data provided by said lidar light sensing device and by said detecting device in a combined manner; <EOS>