The black and white cameras are mounted in a fixed position on the front of the rover, separated horizontally to provide stereo coverage. Each camera is boresighted straight ahead but directed 22.5° below horizontal to view the ground in front of the rover. Each camera has a mass of about 40 grams and is composed of a very wide angle 4 mm lens which focused the image onto a CCD array. The wide-angle distortion was corrected by image processing on the ground. The field of view for each camera is 127.5° horizontal by 94.5° vertical. The CCD is a 768x484 pixel array made up of rectangular elements with resolution of 2.9 mradian/pixel horizontal and 3.4 mradian/pixel vertical.

The color camera is mounted in a fixed position on the rear of the rover. Like the black and white cameras, it weighs about 40 grams and consists of a 4 mm wide-angle lens and a CCD array. The CCD array has the same specifications as for the black and white cameras, except the camera is oriented so that the long dimension of the field of view is vertical instead of horizontal and the boresight angle is 40° below horizontal. This gives a view of the APXS instrument and a rear wheel. Each pixel of the CCD has an individual red, green, or blue color mask to produce the color pictures.