a LiDAR device comprising a plurality of channels;

a calibration target comprising a continuous curved concave reflective surface extending between first and second ends of the calibration target and positioned with respect to the LiDAR device such that the first end is at a first fixed distance from the LiDAR device and the second end is at a second fixed distance from the LiDAR device greater than the first fixed distance; and

a calibration controller operable to perform a reflectance over range calibration of the

LiDAR device by scanning, with the LiDAR device, portions of the continuous curved reflective surface of the calibration target with the plurality of channels; and

wherein the calibration target is positioned and the reflective surface is configured such that, during the scanning, each channel in the plurality of channels scans a different range while glancing angles of return signals for each channel are substantially uniform.