I’m a systems engineer, not a LiDAR expert, so forgive me if this is not that useful, but…<p>Active-gated systems may be helpful in improving range resolution. It’s an old technology (Ball Aerospace was doing it in the 90’s) but it could find application today with improved and lower cost components.<p><a href="https://www.imec-int.com/drupal/sites/default/files/2017-02/2016_rgb_nir_active_gating_imaging_1.pdf" rel="nofollow noreferrer">https://www.imec-int.com/drupal/sites/default/files/2017-02/...</a><p>Chirping or encoding the LiDAR could also be a solution for enhanced resolution?