An optical system configured for imaging an object with the use of two independently-scanning reflectors, the optical system having an optical axis and including: first and second scanning reflectors, the first scanning reflector being configured to scan a beam of light incident thereon in a first plane, the second scanning reflector being configured to scan a beam of light incident thereon in a second plane, and the first and second planes being transverse to one another; and a catadioptric afocal relay system disposed along the optical axis in optical communication with, and between, the first and second scanning reflectors, the catadioptric afocal relay system being configured to image one of the first or second scanning reflectors onto another of the first or second scanning reflectors, in light propagating along the optical axis, with a unit magnification, and the catadioptric afocal relay system including only one reflector.