Supporting data for "A Low-Cost Wearable 3D LiDAR for Assistive Navigation of People with Visual Impairment: Lock-In Angle Estimation, Scan-Pattern Design and Metrological Validation"

Raw measurement logs and the analysis script supporting the paper. The deviceis a wearable two-axis torsional LiDAR scanner in which the beam direction isrecovered by lock-in detection of two Hall signals rather than by positionencoders. The archive contains 26 acquisitions written by the device firmware: the twocalibration runs that bracket the measurement session, a reference boardrecorded in triplicate at 1.0, 1.5 and 2.0 m and rotated by 90 degrees, anoutdoor series at 72 klx, a room corner, an ascending staircase, and runs withthe device shaken and tilted. A separate subdirectory holds the same boardseries, twelve further acquisitions, recorded before the vertical drivefrequency was shifted. analysis.py recomputes every numerical result reported in the paper directlyfrom these logs, including the calibration itself, which is replayed offlinefrom the raw Hall samples rather than taken from the angles the firmware wrote.results.txt is the output of that run. See README.md for the log format, themethods and the list of quantities that cannot be obtained from the logs.