To generate an image that captures a 360-degree horizontal view around a vehicle in a lidar system, four or more lidar sensors may be placed at the four corners of the vehicle. Each lidar sensor is phased 90 degrees apart and synchronously scans a respective 90-degree field of regard. The 90 degree fields of regard from each of the four or more lidar sensors may combine to scan a complete 360-degree field of regard around the vehicle.
