Abstract: Aspects for an on-chip or integrated continuous-wave Light Detection and Ranging (LiDAR) are described herein. The aspects may include one or more laser light sources configured to generate one or more light beams and multiple light engines configured to respectively receive the light beams. The light frequency is modulated in a predefined pattern. A light transmitter of each light engine may be configured to receive a first portion of one of the light beams and transmit the first portion of the light beam at a predetermined angle. A light receiver of each light engine may be configured to receive the first portion of the light beam reflected from an object and transmit the reflected first portion of the light beam to a balanced detector. The balanced detector may be configured to detect a beat between the reflected first portion of the light beam with a second portion of the light beam.