A light detection and ranging system arranged to scan a scene. The system includes a light source to output light having a first characteristic. A spatial light modulator is arranged to receive the light from the light source and output spatially modulated light in accordance with computer generated holograms represented on the SLM. The computer generated holograms are output by a holographic controller, the holograms are arranged to form a light footprint within the scene and the controller is arranged to change the position of the footprint within the scene. A light detector arranged to receive light having the first characteristic from the scene and output a response signal. The computer generated holograms comprise a first set arranged to provide a first scan of the scene and a second arranged to provide a second scan. The first and second set of holograms are preferably interleaved and/or may be arranged such that the first set scans a first area and the second set scans a second area.
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