Lidar system with improved scanning speed for high-resolution depth mapping

A lidar system comprising:

• a light source configured to emit a pulse of light;
• a scanner configured to:
• scan a field of view of the light source in a forward-scanning direction across a plurality of pixels located downrange from the lidar system, wherein the plurality of pixels comprises a first pixel and a second pixel, wherein the second pixel is located adjacent to the first pixel along the forward-scanning direction;
• direct the pulse of light toward the second pixel;
• and
• scan a field of view of a first detector of the lidar system, wherein:
• the first-detector field of view is scanned in the forward-scanning direction across the plurality of pixels;
• and
• the first-detector field of view is offset from the light-source field of view in a direction opposite the forward-scanning direction,
• wherein, when the pulse is emitted:
• the first-detector field of view at least partially overlaps the first pixel;
• and
• the light-source field of view at least partially overlaps the second pixel;
• and
• the first detector, wherein the first detector is configured to detect a portion of the pulse of light scattered by a target located at least partially within the second pixel.