System and method for adjusting a lidar system

A method comprising:

• directing a plurality of laser light beams toward a rotatable mirror assembly;
• rotating the rotatable mirror assembly about a rotation axis;
• sensing received at a light sensor positioned to receive light reflected from the rotatable mirror assembly;
• determining a rotational position of the rotatable mirror assembly comprising a plurality of mirror segments;
• and
• determining a location of an object based on the sensing of the received light at the light sensor and the rotational position of the rotatable mirror assembly, wherein the plurality of mirror segments comprise a first segment that reflects a first light beam from the laser light source in a first direction, and a second mirror segment that reflects the first light beam from the laser light source in a second direction, different from the first direction.

A vehicle comprising:

• one or more processors;
• and
• a memory including instructions, which when executed by the one or more processors, cause the one or more processors to perform a method comprising:
• directing a plurality of laser light beams toward a rotatable mirror assembly;
• rotating the rotatable mirror assembly about a rotation axis;
• sensing received at a light sensor positioned to receive light reflected from the rotatable mirror assembly;
• determining a rotational position of the rotatable mirror assembly comprising a plurality of mirror segments;
• and
• determining a location of an object based on the sensing of the received light at the light sensor and the rotational position of the rotatable mirror assembly, wherein the plurality of mirror segments comprise a first segment that reflects a first light beam from the laser light source in a first direction, and a second mirror segment that reflects the first light beam from the laser light source in a second direction, different from the first direction.