A LIDAR system for ranging an object using primary light and secondary light reflected at the object , the LIDAR system comprising: - a laser , arranged to emit the primary light along a transmit beam towards a scanning element of the LIDAR system, wherein at least a part of the transmit beam adjacent to the scanning element defines a center line , - a detector , arranged to detect the secondary light along a receive beam , wherein the receive beam comprises a first part aligned with the center line and a second part having an inclination with respect to the center line , wherein the second part of the receive beam is in-between the first part of the receive beam and the detector , and - a segmented lens , positioned on the center line in-between the first part of the receive beam and the second part of the receive beam , the segmented lens comprising: a transmit segment associated with the transmit beam , wherein the transmit segment includes a transmit lens element having a transmit surface and being configured to collimate the transmit beam and a receive segment associated with the receive beam , wherein the receive segment includes a first receive lens element having a first receive surface and a second receive lens element having a second receive surface and wherein the first receive surface and the second receive surface have different geometrical lens parameters, wherein the first receive surface , the second receive surface and the transmit surface are connected via continuous transitions , and wherein the receive segment is arranged to focus the receive beam onto the detector . - a laser , arranged to emit the primary light along a transmit beam towards a scanning element of the LIDAR system, wherein at least a part of the transmit beam adjacent to the scanning element defines a center line , - a detector , arranged to detect the secondary light along a receive beam , wherein the receive beam comprises a first part aligned with the center line and a second part having an inclination with respect to the center line , wherein the second part of the receive beam is in-between the first part of the receive beam and the detector , and - a segmented lens , positioned on the center line in-between the first part of the receive beam and the second part of the receive beam , the segmented lens comprising: a transmit segment associated with the transmit beam , wherein the transmit segment includes a transmit lens element having a transmit surface and being configured to collimate the transmit beam and a receive segment associated with the receive beam , wherein the receive segment includes a first receive lens element having a first receive surface and a second receive lens element having a second receive surface and wherein the first receive surface and the second receive surface have different geometrical lens parameters, wherein the first receive surface , the second receive surface and the transmit surface are connected via continuous transitions , and wherein the receive segment is arranged to focus the receive beam onto the detector . a transmit segment associated with the transmit beam , wherein the transmit segment includes a transmit lens element having a transmit surface and being configured to collimate the transmit beam and a receive segment associated with the receive beam , wherein the receive segment includes a first receive lens element having a first receive surface and a second receive lens element having a second receive surface and wherein the first receive surface and the second receive surface have different geometrical lens parameters, wherein the first receive surface , the second receive surface and the transmit surface are connected via continuous transitions , and wherein the receive segment is arranged to focus the receive beam onto the detector . <EOS>