A LiDAR transceiver for scanning an environment over a field of view FOV having an azimuthal angular range and a polar angular range. The LiDAR transceiver comprising a photonic integrated circuit (PIC) receiver 7, a PIC transmitter 8, a slab 3, a wedge 2, a lens 6 and a diffractive optical element (DOE) 5. The DOE has a front surface and a back surface and comprises a transmitting region and a receiving region. The receiving region configured to steer the azimuthal component of light incident on the front surface of the DOE by an amount dependent on wavelength and transmit the light from the back surface of the DOE. The receiving region is distributed on opposing sides of the transmitting region, and transmits light from the PIC transmitter along a transmitting optical path through the wedge, through the transmitting region of the DOE to the environment. The light has an emission angle within the azimuthal angular range of the FOV, the azimuthal component of the emission angle being dependent on wavelength of the light. The transceiver receiving light from the environment, directing the light through the receiving region of the DOE and along an optical path through the wedge and through the slab to the PIC receiver. The lens being configured to focus light of the receiving optical path onto the PIC receiver. The DOE configured such that received light is transmitted from the back surface of the DOE at an angle independent of the wavelength.
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