The Guardian Angel data collection desktop application interfaces with advanced mobile mapping hardware and sensor arrays to acquire, process, and store data sets for future use by machine learning platforms and geospatial workflows. This system is designed specifically for capturing roadside asset information to facilitate condition assessment tools. It serves as a robust interface for collecting and processing data from an Ouster LiDAR sensor, Movella XSENS 670G GNSS/IMU, and three 4K Lucid Vision Labs industrial cameras, all of which operate at 100 FPS on an edge device powered by an RTX 2000 Ada. The application’s capabilities include real-time sensor configuration and control (pan, tilt, zoom), as well as synchronization of data streams from multiple sensors.