Since this is a ripping question, I think it is best that you use the ripping questions thread unless you want to rip 39 arcade games (some that other people have already done) which I give you the best of luck.
You might as well rip from MAME, since the ROMs in that collection are the more or less exact same ones that you use for MAME. In fact if I remember correctly Taito Legends series does use parts of MAME and is credited as such. Regardless, the collection uses emulation and maybe a couple of ports at the most.
First try to use TileGGD to see if you can rip via the ROM, if you can't and want an easier way there are two options. The exception is if the game doesn't work on MAME, luckily Space Invaders 95 does.
Try to see if the disc matches the filenames given here: http://maws.mameworld.info/maws/romset/spcinv95
(don't worry, there aren't any ROMS here just the filename info, it is a database site that is very handy)
If they do, copy them to your computer and put it all in one zip called spcinv95 and run it from MAME. If they don't exactly (due to that emulation gets updated), then you can download the game elsewhere.
While running MAME and in game, press F4 to bring up the palette menu. Pressing Enter cycles thorugh to the Tile Viewer and to the Tilemap (Background) viewer, pressing ] to move to the next section, [ to move to the previous one, press Page Down to move down. However you have to press Alt+Enter to go into window mode to print screen it (Alt+Print Screen) and to have the proper size, I think you press + on the tile viewer until it reaches the smallest size.
I hope that helps, it's hard to explain I know.