Autonomous Robot Distance Measurements

I want to simulate an autonomous flying robot in UE4. For this, my goal is to create the environment in UE4 and to move an actor in it. Since I want to outsource the control to an external program, it would be useful to be able to export 3D images from UE4 to avoid obstacles. Is there a way to export distance measurements of the environment in grayscale or LiDAR point clouds?
Thank you.

You could use the camera depth. I would make a material that displays black to white with the pixel depth node, apply it to everything in the environment, and export screen shots at runtime with a console command.