Fig. 1. Principle of lens assisted beam scanning

Fig. 2. Lens group and beam deflection. (a) Schematic of lens group; (b) beam deflection at different off-axis distances

Fig. 3. Setup and measurement of the beam scanning. (a) Setup of the lens assisted beam scanning; (b) measured phase shift versus different electrical voltage; (c) measured switching waveform; (d) output red spots for illustration purposes

Fig. 4. Setup of the lidar system

Fig. 5. Typical output waveform of the photodetector

Fig. 6. Setup of the electronic control system

Fig. 7. Waveform of PWM and filter voltage

Fig. 8. Rise time of voltage switching

Fig. 9. Setup of the four targets scanning experiment

Fig. 10. Returning pulses at four targets with different angles and distances