The present disclosure relates to light detection and ranging (lidar) systems, lidar-equipped vehicles, and associated methods. An example method includes causing a firing circuit to trigger emission of an initial group of detection pulses from at least one light-emitter device of a lidar system in accordance with an initial set of one or more light-emission parameters. The method also includes causing the firing circuit to trigger emission of one or more test pulses and receiving, from at least one detector, information indicative of one or more return test pulses. The method yet further includes determining, based on the received information, a presence of a retroreflector based on an intensity of the return test pulse. The method additionally includes determining a subsequent set of light-emission parameters and causing the firing circuit to trigger emission of a subsequent group of detection pulses in accordance with the subsequent set of light-emission parameters.