Systems and methods are provided to capture objects with different levels of reflectivity. In one embodiment, the LiDAR device can sequentially illuminate a scene with a high-reflectivity object and a low-reflectivity using laser pulses that differ by one or more order magnitude. The LiDAR device can use cross-correlation to combine the image frame with one or more image frames that each are captured at a reduced illumination to obtain a composite image frame. The composite image frame can show both the high-reflectivity object and the low-reflectivity object at their expected size with increased dynamic range.