It could be speculated, when printing, after finishing a layer, you could say every 50? 25? 10? 200?, do a quick/rough scan of the entire bed. Of course if the hardware is fast enough, are you able to run the lidar WHILE the machine is printing?
You have the maximums involved on the current layer. Do a quick check to see if areas are > or < 10/20/30%, then we might infer it is NOT supposed to be there? (failed print moving, spaghetti detection in general, etc)
We should be able to expect things to be where the STL coordinates are, Lidar can detect variances of that.
Thanks very much!