Methods and apparatus for light detecting and range sensing. In one approach, a light detecting and ranging (LiDAR) sensor uses an optical directing device; a multi-clad optical fiber, a light source, and a detector. The light source is optically coupled to the multi-clad optical fiber which is configured to receive optical rays transmitted from the light source and route the rays on an optical path leading to the optical directing device. The optical directing device is configured both to direct the transmitted optical rays routed through the multi-clad fiber towards a target to be sensed and direct optical rays reflected from the target on an optical path leading to the multi-clad optical fiber. The multi-clad optical fiber is configured to receive the reflected optical rays and route the reflected optical rays on an optical path leading to the detector. The detector is configured to detect the reflected optical rays.