A light detection and ranging (LiDAR) system is provided including a beam steering device configured to modulate a phase of light from a light source and to output light in a plurality of directions at the same time, a receiver including a plurality of light detection elements configured to receive light that has been irradiated onto an object in the plurality of directions from the beam steering device and reflected from the object, and a processor configured to analyze position-specific distribution and/or time-specific distribution of light received by the receiver and to individually process the light lights irradiated onto the object in the plurality of directions.