Primary sensor is a combined camera/LIDAR rig. The camera is a PointGray FireflyMV USB camera with a 2.8mm fixed focal length lens giving us about a 90 degree field of view. The camera is mounted on a pair of AX-12 servos which allow the camera to pan and tilt around its focal point, making panorama generation straight-forward. Integrated into the same sensor mount is a Hokuyo UTM-30LX LIDAR range finder. It is mounted on a third AX-12 servo, allowing us to produce 3D point clouds. Because the two sensors are well-calibrated with respect to each other, we can obtain color data for laser points, or ranges for camera pixels. Note that the camera/LIDAR mount was fabricated using our uPrint rapid prototyper.