An integrated light detection and ranging (LiDAR) architecture can contain a focal plane transmitter array, and a focal plane coherent receiver for which the number of receiving elements is the same as the number of emitting elements. A microlens array may be used to achieve parity between the number of receiver and transmitter elements. The integrated LiDAR transmitter can contain an optical frequency chirp generator and a focal plane optical beam scanner with integrated driving electronics. The integrated LiDAR receiver architecture can be implemented with per-pixel coherent detection and amplification.