A Light Detection and Ranging (LiDAR) sensor for sensing one or more objects including a transmitter configured to emit laser radiation along an axis of the LiDAR sensor and a scanner comprising a first lens array and a second lens array. The first and the second lens array are configured to emit the laser radiation received from the transmitter and to receive reflected laser radiation from the one or more objects at a steering angle relative to the axis of the LiDAR sensor. The LiDAR sensor further includes a receiver including an imager and a detector, wherein the imager is configured to direct the reflected laser radiation received from the scanner onto the detector. The scanner configured to adjust a relative position between the first and second lens array for adjusting the steering angle.