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On February 21-22, 2001 during the CRC Project E-56 field demonstration in Denver, CO, DRI obtained vehicle exhaust plume data using a field prototype of a LIDAR-based remote sensing system to measure particulate matter (PM) and a commercial remote sensor, the RSD3000 manufactured by Environmental Systems Products, Inc., to measure gaseous pollutants. In this report the theory and design of the LIDAR PM system is emphasized. Measurements were made for three test vehicles, an Isuzu, a Ford van and a Ford pickup. The LIDAR PM measurements for both parking lot and freeway onramp conditions were highest for the Isuzu. Furthermore, PM measurements for the Ford pickup were higher for the Series 1 configuration than for the Series 2 configuration. The LIDAR particulate matter system continues to be improved. As configured for this field test, uncertainty in the measurements occurs when the PM and CO2 beams detect different portions of the exhaust plume. This problem has since been solved by developing a CO2 channel (separate from that of the RSD3000) that is collinear with the LIDAR beam. A second limitation is that the sensitivity is not great enough. That is, while the system does an adequate job of detecting the particulates from high-polluting vehicles, it cannot detect the PM for low emitting vehicles. A solution for this problem is currently being pursued