There is provided a system for a light detection and ranging ("LIDAR") system arranged to scan a scene, the system comprising a light source arranged to output light having a first characteristic, a spatial light modulator, "SLM", arranged to receive the light from the light source and output spatially-modulated light in accordance with computer-generated holograms represented on the spatial light modulator. The system further comprises: a holographic controller arranged to output a plurality of computer-generated holograms to the spatial light modulator, wherein each computer-generated hologram is arranged to form a corresponding light footprint within the scene and the holographic controller is further arranged to change the position of the light footprint within the scene. A light detector is arranged to receive light having the first characteristic from the scene and output a light response signal, wherein the plurality of computer-generated holograms comprise a first plurality of computer-generated holograms arranged to provide a first scan within the scene, and wherein the holographic controller is arranged to receive the light response signal in response to the first scan and determine a second plurality of computer-generated holograms based on a property of the light response signal in response to the first scan. A vehicle comprising the LIDAR system is also provided.
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