LiDAR with combined fast/slow scanning

A scanning LiDAR system comprising:

• a laser;
• a first optical switch having an input configured to receive laser pulses from the laser and to redirect the laser pulses to a selected one of a plurality of outputs;
• a first plurality of fibers each coupled to a different one of the plurality of outputs of the first optical switch;
• a mirror configured to pivot or rotate in response to a control signal;
• a first at least one optical element configured to receive the laser pulses from the first plurality of fibers and to redirect the laser pulses to the mirror;
• at least one detector;
• a second plurality of fibers having inputs configured to receive the laser pulses reflected from a field of view and outputs coupled to the at least one detector;
• and
• at least one controller configured to control the first optical switch to direct the laser pulses from the input of the first optical switch to each of the plurality of outputs in turn, to generate the control signal to control the mirror to pivot or rotate to direct light from the first plurality of fibers to scan at least a portion of the field of view and direct reflected light from the field of view to the inputs of the second plurality of fibers, and to process signals from the at least one detector to generate data representing the at least a portion of the field of view.