Multi-beam lidar system with polygon mirror

A lidar system comprising:

• a light source configured to produce a first beam of light and a second beam of light;
• a scanner configured to scan a field of regard of the lidar system using the first beam of light and the second beam of light, the scanner including:
• a first scan mirror configured to:
• receive the first beam of light from the light source and reflect the first beam of light toward a polygon mirror, and
• pivot along a first scan-mirror pivot axis to scan the first beam of light along a first direction;
• a second scan mirror configured to:
• receive the second beam of light from the light source and reflect the second beam of light toward the polygon mirror;
• and
• pivot along a second scan-mirror pivot axis to scan the second beam of light along the first direction, wherein the scanner controls at least one of a scanning speed or range of pivoting of the second scan-mirror independently of the first scan-mirror;
• and
• the polygon mirror that comprises a plurality of reflective surfaces angularly offset from one another along a periphery of the polygon mirror, the polygon mirror configured to:
• receive the first beam of light from the first scan mirror and reflect the first beam of light toward the field of regard,
• receive the second beam of light from the second scan mirror and reflect the second beam of light toward the field of regard, and
• rotate about a polygon-mirror rotation axis to scan the first and second beams of light along a second direction substantially orthogonal to the first direction;
• a first receiver configured to detect scattered light from the first beam of light;
• and
• a second receiver configured to detect scattered light from the second beam of light.