Abstract: A miniature optical sensing device for determining distance to an object and velocity of the object, and identifying the shape and structure of the object, for example, a solid-state LIDAR, and a method for determining distance to an object and velocity of the object, and identifying the shape and structure of the object by using the optical sensing device is provided. The sensing device includes optically coupled one laser radiation source, at least one optical collimator, a beam-splitter, a light reflector, an optical beam guide, at least one detector for detecting radiation reflected from the object, as well as a controller, wherein the at least one detector corresponding to the respective at least one laser radiation source forms individually functioning and individually adjustable measuring channels with the possibility of providing data about the object, and the controller is configured to ensure the simultaneous or selective operation of the measuring channels.