Future lunar site operations will benefit from mobile robots, both autonomous and tele-operated, that complement or replace human extravehicular activity. Three-dimensional sensing technology is at the heart of such functionality, enabling reliable navigation in complex, dynamic environments, and serving as a valuable tool for inspection and site survey. Honeybee Robotics is therefore developing a small-envelope, high-performance scanning LIDAR system, geared primarily towards robotic navigation and secondarily to site inspection and survey. The proposed Phase II will draw on the results of a DARPA-funded design study and Phase I of this effort, which resulted in successful proof-of-concept, as well as testbeds and proprietary software tools. The Honeybee 3D Miniature LIDAR (3DML) uses a novel scanning mechanism in conjunction with a pulse-time-of-flight optical rangefinding subsystem. The 3DML architecture, developed with expert input from Sensor Designs, an electro-optical systems consultancy, achieves wide field of view and high resolution while maintaining ultra-compact package size. The proposed Phase II will include development of a functional brassboard system prototype and its integration and test on a K10 research rover. Phase III will pursue a multi-pronged commercialization effort, including preflight development, production of a unit for terrestrial research, and incorporation of 3DML into a flight program.