Fuente: Wipo "Sensorization" A lift device (10) includes a base, a lift assembly (14) coupled with the base, a platform (16) coupled with the lift assembly, and an obstacle detection system that includes a first lidar sensor (114a), a second lidar sensor (114b), a third lidar sensor (114c), and a fourth lidar sensor (114d). The first lidar sensor is positioned at a first corner of a base of the platform. The second lidar sensor is positioned at a second corner of the base of the platform. The third lidar sensor is positioned at a third corner of the base of the platform. The fourth lidar sensor is positioned at a fourth corner of the base of the platform. The lidar sensors are oriented in a downwards direction to detect objects or obstacles that are at a vertical position below the base of the platform.