Adaptive LiDAR scanning techniques for improved frame rate and safety

A LiDAR system having a field of view comprising a plurality of unique portions, the LiDAR system comprising:

• a laser;
• an array of optical emitters;
• an objective lens configured to optically couple each optical emitter of the array of optical emitters to a respective one of the plurality of unique portions of the field of view;
• an optical switching network coupled between the laser and the array of optical emitters;
• a controller coupled to the optical switching network and configured to cause the optical switching network to route light from the laser to a non-predetermined sequence of optical emitters of the array of optical emitters according to a temporal pattern and to dynamically vary the temporal pattern based at least in part on distance from the LiDAR system to an object within the field of view so as to vary dwell time per unique portion of the field of view, wherein the temporal pattern defines order and timing, according to which the light is routed to respective optical emitters of the array of optical emitters, to thereby define order and timing, according to which respective unique portions of the field of view are interrogated;
• and
• an optical receiver coupled to the optical switching network and configured to receive light reflected from the field of view.