LiDARs, which scan the space and measure the distance to each point, do not always produce the required quality images. Therefore, the image quality improvement is ruther actual. The aim of this work is to develop a method for the image quality LiDAR generated improvement. The paper describes a study using an Intel RealSense L515 LiDAR, Intel RealSense Viewer v.2.53.1. When a surface is scanned by a LiDAR, the part of it that is placed between two consecutive pixels is not displayed, which can lead to a deterioration in image quality and detail loss. A method of improving the image quality is proposed, which consists in moving (horizontal rotation) of the LiDAR camera around the axis or optical center, which will give the possibility to scan the areas between two consecutive pixels.An algorithm for the practical implementation of the method has been developed, consisting of two interrelated parts, the first controlling the LiDAR operation, and the second - the software that generates the surface image. The suggested method will enable us to obtain better quality images. In the case of a video stream, this increase in resolution will lead to a decrease in frame rate. This method implementation possibility has been confirmed by the experimental study results.