Abstract: An imaging apparatus includes a structural support rigidly coupled to a surface of a mobile robot and a plurality of perception modules, each of which is arranged on the structural support, has a different field of view, and includes a two-dimensional (2D) camera configured to capture a color image of an environment, a depth sensor configured to capture depth information of one or more objects in the environment, and at least one light source configured to provide illumination to the environment. The imaging apparatus further includes control circuitry configured to control a timing of operation of the 2D camera, the depth sensor, and the at least one light source included in each of the plurality of perception modules, and at least one computer processor configured to process the color image and the depth information to identify at least one characteristic of one or more objects in the environment.