Abstract: Aspects of the subject disclosure may include, for example, a light detection and ranging system that includes a laser light source, scanning mirrors, light-sensitive devices, and time-of-flight measurement circuits. The angular velocity of the scanning mirrors is adjusted in a region of interest to modify resolution. A scanning mirror on a fast scan axis slows down entering the region and speeds up exiting, while a scanning mirror on a slow scan axis does the opposite. The system may also increase a laser pulse repetition rate in the region of interest for enhanced data acquisition. Other embodiments are disclosed.