A light detection and ranging device with dynamically adjustable angular resolution for use as a sensor providing environmental information for navigating an autonomous vehicle is disclosed. A first region of a scanning zone is scanned while emitting light pulses at a first pulse rate, and a second region of the scanning zone is scanned while emitting light pulses at a second pulse rate different from the first pulse rate. Information from the LIDAR device indicative of the time delays between the emission of the light pulses and the reception of the corresponding returning light pulses is received. A three dimensional point map is generated where the resolution of the point map in the first region is based on the first pulse rate and is based on the second pulse rate in the second region.