Various forms of optical circulator are disclosed. The optical circulators act on polarisation of the light to direct light between its ports. Also disclosed are systems and methods for facilitating estimation of a spatial profile of an environment based on a light detection and ranging (LiDAR) based technique. The systems and method may include or use one or more of the various forms of optical circulator. In one arrangement, the present disclosure facilitates spatial profile estimation based on directing light over one dimension, such as along the vertical direction. In another arrangement, by further directing the one-dimensionally directed light in another dimension, such as along the horizontal direction, the present disclosure facilitates spatial profile estimation based on directing light in two dimensions.