A light detection and ranging system arranged to scan a scene comprises a light source arranged to output light having a first characteristic. A spatial light modulator is arranged to receive the light from the light source and output spatially-modulated light in accordance with computer-generated holograms represented thereon. A holographic controller is arranged to output a plurality of holograms to the spatial light modulator. Each hologram is arranged to form a corresponding light footprint within the scene. The holographic controller is further arranged to change the position of the light footprint within the scene. A light detector is arranged to receive light having the first characteristic from the scene and output a light response signal. In embodiments, a first plurality of holograms are arranged to provide a first scan within the scene, and the holographic controller is arranged to receive the light response signal in response to the first scan and determine a second plurality of holograms based on a property of the light response signal.