an array of emitter/detector sets configured to cover a field of view for the unit, each emitter/detector set configured to emit and receive light energy on a specific coincident axis unique for that emitter/detector set; and

a control system coupled to the array of emitter/detector sets to control initiation of light energy from each emitter and to process time of flight information for light energy received on the coincident axis by the corresponding detector for the emitter/detector set, the control system including:

a pulse generation controller configured to transmit a sequence of pulses from each of the emitters; and

a control unit configured to compute a time of flight measurement for light energy received at each of the corresponding on-coincident axis detectors, wherein the control unit includes a microprocessor unit (MPU) coupled to an output of at least one detector, the MPU being configured to analyze the light energy based on the output of the at least one detector; and

each emitter/detector set has a corresponding MPU unique to the emitter/detector set, wherein the control system further comprises a processor coupled to each MPU to analyze information from the array of emitter/detector sets,

wherein time of flight information for light energy corresponding to the array of emitter/detector sets provides imaging information corresponding to the field of view for the unit and interference among light energy corresponding to an emitter of the specific coincident axis of an emitter/detector set is reduced with respect to detectors in the LiDAR unit other than the detector of the emitter/detector set corresponding to the specific coincident axis.