A scanning projector for a display apparatus includes a first scanning reflector configured to steer a light beam in a first plane, a second scanning reflector configured to steer the light beam received from the first scanning reflector in a second plane, and beam relay optics configured to relay a first pupil defined at the first scanning reflector to a second pupil defined at the second scanning reflector, and to relay the second pupil to an output pupil of the scanning projector. The beam relay optics may include a concave reflector and a polarization beam splitter coupled to a scanning reflector in a triple pass configuration.