Scanning lidar systems and methods for performing a redundant beam scan to reduce data loss resulting from obscurants are presented. An example system comprises a first light source and a second light source having a spatial displacement relative to the first light source. The example system also includes a mirror assembly and an optical window configured to transmit the light pulses emitted from the light sources, wherein the spatial displacement of the second light source relative to the first light source is such that the first and second light pulses produce two pixels corresponding to a same portion of an image. The example system also includes a receiver configured to receive the light pulses when scattered by one or more targets, the receiver including two or more detectors configured to detect at least one of the light pulses and output an electric signal for generating the two pixels.