Abstract: A light detection and ranging (LiDAR) system for scanning and reconfiguring regions-of-interest (ROIs) is provided. The system comprises a LiDAR scanner configured to scan a current set of ROIs within a field-of-view (FOV), and a LiDAR perception sub-system coupled to the LiDAR scanner. The LIDAR perception sub-system includes instructions for: obtaining sensor data provided at least by the LiDAR scanner; deriving one or more current perceptions based on the sensor data; obtaining one or more predefined perception policies; determining one or more policy-based ROI candidates; determining whether an ROI reconfiguration request is provided, based on a vehicle perception decision; determining one or more request-based ROI candidates based on the ROI reconfiguration request; and determining a next set of ROIs for the LiDAR scanner to scan based on the current set of ROIs, and one or both of the one or more policy-based ROI candidates and the one or more request-based ROI candidates.