Lidar system and method of operation

A method for environment mapping, comprising:

• at a first laser of a lidar emitter, emitting a first plurality of beams;
• at a second laser of the lidar emitter, emitting a second plurality of beams, wherein:
• the first and second pluralities of beams cooperatively define an array of pixels;
• each pixel of the array comprises a beam of the first plurality and a beam of the second plurality;
• and
• the array of pixels defines an array direction, wherein a plurality of pixels of the array are arrayed along the array direction;
• at a beam director, directing each beam of the array of pixels outward of a sweep axis, wherein a reference line parallel to the sweep axis intersects the array direction at a substantially oblique angle;
• at the beam director, while directing each beam of the array of pixels outward of the sweep axis, sweeping each beam of the array of pixels about the sweep axis;
• at a lidar receiver, receiving a plurality of reflected beams, each reflected beam originating from a reflection, off a respective object, of a different beam of the array of pixels;
• and
• based on the plurality of reflected beams, determining, for each reflected beam of the plurality, a relative location of the respective object.