A frequency modulated continuous wave, FMCW, LiDAR transceiver implemented on a photonic integrated circuit , the photonic integrated circuit comprising: an input port configured to receive a frequency modulated laser signal; a plurality of optical antennas (200; 210; 505); an optical switch configured to switchably couple the input port to the plurality of optical antennas, thereby forming optical paths between the input port and the plurality of optical antennas; for each optical path from the input port to a respective optical antenna of the plurality of optical antennas: a splitter (202; 212; 802) of a plurality of splitters coupled along the optical path, wherein each splitter of the plurality of splitters is configured to split a received portion of the laser signal into a local oscillator signal and a transmitted signal , the respective optical antenna of the plurality of antennas configured to emit the transmitted signal and receive a reflection of the transmitted signal as a reflected signal, wherein the splitter (202; 212; 802) is configured to output a return signal that is a portion of the reflected signal; and for each splitter of the plurality of splitters, a mixer (201; 209; 811; 910) configured to receive the return signal and the local oscillator signal from the splitter of the plurality of splitters, the mixer configured to mix the return signal and the local oscillator signal to generate one or more output signals used to determine depth information for a field of view of the FMCW transceiver. an input port configured to receive a frequency modulated laser signal; a plurality of optical antennas (200; 210; 505); an optical switch configured to switchably couple the input port to the plurality of optical antennas, thereby forming optical paths between the input port and the plurality of optical antennas; for each optical path from the input port to a respective optical antenna of the plurality of optical antennas: a splitter (202; 212; 802) of a plurality of splitters coupled along the optical path, wherein each splitter of the plurality of splitters is configured to split a received portion of the laser signal into a local oscillator signal and a transmitted signal , the respective optical antenna of the plurality of antennas configured to emit the transmitted signal and receive a reflection of the transmitted signal as a reflected signal, wherein the splitter (202; 212; 802) is configured to output a return signal that is a portion of the reflected signal; and a splitter (202; 212; 802) of a plurality of splitters coupled along the optical path, wherein each splitter of the plurality of splitters is configured to split a received portion of the laser signal into a local oscillator signal and a transmitted signal , the respective optical antenna of the plurality of antennas configured to emit the transmitted signal and receive a reflection of the transmitted signal as a reflected signal, wherein the splitter (202; 212; 802) is configured to output a return signal that is a portion of the reflected signal; and for each splitter of the plurality of splitters, a mixer (201; 209; 811; 910) configured to receive the return signal and the local oscillator signal from the splitter of the plurality of splitters, the mixer configured to mix the return signal and the local oscillator signal to generate one or more output signals used to determine depth information for a field of view of the FMCW transceiver. <EOS>