Abstract: A LIDAR device includes an array of lasers and an array of corresponding receivers. The spatial distribution of the lasers corresponds to that of the receivers. The array of lasers creates an array of beamlets and correlated receiver fields of view for dense three-dimensional point cloud mapping with precise angular spacing defined by lithographically grown transmitter and receiver arrays. A transmitter lens may be provided that maximizes optical throughput in a coaxial LIDAR by crossing the transmitter beamlets at the focus of the transmitter lens, where a transmit and receive combiner is also located. A single transmitter lens may be used to both collimate and steer the transmitter beamlets to generate a desired spot pattern in angle space. Control circuitry for the lasers may include a drive transistor with a power source coupled to a source terminal and an isolated gate driver coupled to a gate terminal.