The Pioneer 3-AT can fulfill our needs of a mobile robot platform to implement our navigation and 3D vision systems due to its powerful microcontroller (44.2368 MHz Renesas SH2 32-bit RISC μC with 32K and 128K FLASH; ARCOS firmware), the four wide pneumatic tires which in conjunction with the four DC motors equipped with encoders (135,465 ticks per revolution), provide high traversability and maneuverability, three long duration batteries (12 VDC at 7.2 Ah each) that last 4–6 continuous hours and the option to have an onboard laptop computer.