A LIDAR system or a vehicle may include at least one processor configured to perform a method to detect objects in a field of view. The method may include controlling at least one LIDAR light source in a manner enabling light flux of the at least one LIDAR light source to vary over a plurality of scans of a field of view; receiving, from a group of detectors, a plurality of input signals indicative of reflections of light projected from the field of view; detecting a possible existence of an object in the background area based on first input signals associated with a first scanning cycle; detecting a possible existence of the object based on second input signals associated with a second scanning cycle; and aggregating the first and second input signals to detect an existence of the object at an object-existence-certainty level higher than a threshold.