A light detection and ranging system arranged to scan a scene is provided. A light source outputs light having a first characteristic. A spatial light modulator receives output light from the light source and outputs spatially-modulated light in accordance with computer-generated holograms represented thereon. A light detector receives light having the first characteristic from the scene and outputs a light response signal. A holographic controller is arranged to output a plurality of computer-generated holograms to the spatial light modulator. Each computer-generated hologram is arranged to form structured light having a corresponding pattern within the scene. The holographic controller is further arranged to change the pattern of the structured light formed by at least one of the plurality of computer-generated holograms.