A scanning system includes a plurality of light detection and ranging (LiDAR) sensors, each LiDAR sensor of the plurality of LiDAR sensors being configured to generate a point cloud based on interactions of emitted light with a surrounding environment, and a processor configured to split a full 360° rotation of each LiDAR sensor into a plurality of slices including a first slice and a second slice, to generate a coherent fused point cloud by fusing together portions of point clouds of the plurality of LiDAR sensors corresponding to the first slice, and fusing together portions of point clouds of the plurality of LiDAR sensors corresponding to the second slice, to determine an action for the scanning system to take in response to the generation of the coherent fused point cloud, and to cause the scanning system to implement the action.