In certain embodiments, a method includes accessing image information for a scene in a movement path of a mobile robot. The image includes image information for each of a plurality of pixels of the scene, the image information comprising respective intensity values and respective distance values. The method includes analyzing the image information to determine whether to modify the movement path of the mobile robot. The method includes initiating, in response to determining according to the image information to modify the movement path of the mobile robot, sending of a command to a drive subsystem of the mobile robot to modify the movement path of the mobile robot.