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Understanding the specific illumination pattern of a vehicle headlamp beam is useful for the evaluation of nighttime visibility issues in accident reconstruction. There are several challenges associated with traditional headlamp mapping techniques, including that mapping must be conducted in darkness, the mapping location topography may not be level or flat, maintaining a measurement grid is difficult to accomplish in the field, data acquisition requires multiple individuals, and it is generally very time consuming. Traditional techniques require the surrounding surface to be permanently marked in the evening in order to allow for future data collection of the mapped points in daylight conditions. The methodology presented here alleviates some of these challenges through real-time data collection and by accounting for topographical differences, which eliminates the requirement that mapping be conducted on a level or flat surface, and it reduces the number of required participants.