LiDAR system including object movement detection

A LiDAR system includes alight emitter, a light detector, and a controller. The controller is programmed to: activate the light emitter to emit a series of shots into a field of view of the light detector; activate the light detector to detect shots reflected from an object in the field of view; record the detected shots from a first subset of the series of shots; group a second subset of the series of shots not in the first subset; and based on the detected shots from the second subset of the series of shots, identify an object moving in the field of view.