We are involved in the development of a prototype for a Mars rover control system. The system would consist of a rover, a lander and a ground station. The lander has a fixed stereo rig mounted on a pan and tilt head. One of the tasks is to retrieve the external calibration of the stereo head and the pan and tilt axes. It is not feasible to locate a calibration object in front of the cameras and therefore the necessary information will be extracted from the Mars environment itself. Another task is to obtain a detailed reconstruction of the environment of the lander. These different tasks are being solved using techniques presented in this text.