A LiDAR sensor having particular application for use on a vehicle. The LiDAR sensor includes a plurality of spaced apart VCSEL arrays each including a single lens, where the lens for each VCSEL array directs the beam of the particular laser in the array that is illuminated in a desired direction so that turning on and off of the lasers in each array creates a scanning effect. The number and the size of the VCSEL arrays are selected to provide the desired FOV for the sensor, where the VCSEL arrays can be positioned on a curved platform to provide that FOV. The sensor also includes one or more detectors for detecting reflections of the laser beams emitted by the lasers. Control electronics are provided to scan the laser beams and generate a three-dimensional point cloud of return image points.