Abstract In this paper, a new type of 3D imaging light detection and ranging (LIDAR) vision system based on Micro-Electro-Mechanical System (MEMS) mirror and novel optical system is proposed. The co-aperture transceiver optical system offers a compact architecture and wide Field-of-View (FOV), which also solves the problem of stray light affecting the system. Thanks to the MEMS and the optical system, the detecting FOV is greatly enlarged and the system volume is much smaller compared to the traditional system. The whole system is designed and verified by simulations and experiments.