Apparatuses and method for light detection and ranging

An apparatus for light detection and ranging, comprising:

• an illumination circuit configured to:
• repeatedly emit a plurality of light beams to the environment according to a first sequence of beam directions for a first measurement;
• and
• emit a plurality of light beams according to a second sequence of beam directions for a subsequent second measurement.

An apparatus for light detection and ranging, comprising:

• a reflective surface configured to oscillate about a rotation axis;
• a light source configured to controllably emit a light beam via an optical system onto the reflective surface;
• and
• a controller configured to control emission times of the light source so that the reflective surface emits a plurality of light beams to an environment according to a first sequence of beam directions for a first measurement, and according to a second sequence of beam directions for a subsequent second measurement,
• wherein beam directions of the first sequence of beam directions are angularly offset from each other by one of a set of first angles,
• wherein beam directions of the second sequence of beam directions are angularly offset from each other by one of a set of second angles,
• wherein the beam directions of the first sequence of beam directions and the second sequence of beam directions are selected from a plurality of predefined beam directions, and
• wherein the beam directions of the second sequence of beam directions are offset from the beam directions of the first sequence of beam directions by more than one intermediate beam direction of the plurality of predefined beam directions.