Half and quarter lissajous scan patterns for lidar

A method of three-dimensional imaging using a LiDAR system, the method comprising:

• scanning the LiDAR system in a first direction with a first frequency and in a second direction orthogonal to the first direction with a second frequency that is different from the first frequency, the LiDAR system including an electro-optic assembly that comprises one or more laser sources and one or more detectors, each respective detector corresponding a respective laser source, wherein the scanning of the LiDAR system in the first direction and the second directions scans a laser beam emitted by each respective laser source across a respective sub-field of view;
• emitting, using each of the one or more laser sources, a plurality of laser pulses as the LiDAR system is scanned in the first direction and the second direction;
• detecting, using each of the one or more detectors, a portion of each respective laser pulse of the plurality of laser pulses reflected off of one or more objects;
• determining, using a processor, a time of flight for each respective laser pulse from emission to detection;
• acquiring a point cloud of the one or more objects based on the times of flight of the plurality of laser pulses from each laser source;
• and
• outputting the point cloud at a frame rate that is an integer times a difference between the second frequency and the first frequency, the integer being greater than one.