The Interactive Computer-Enhanced Remote Viewing System (ICERVS) is a software tool for complex three-dimensional (3-D) visualization and modeling. Its primary purpose is to facilitate the use of robotic and telerobotic systems in remote and/or hazardous environments, where spatial information is provided by 3-D mapping sensors. ICERVS provides a robust, interactive system for viewing sensor data in 3-D and combines this with interactive geometric modeling capabilities that allow an operator to construct CAD models to match the remote environment. Part I of this report traces the development of ICERVS through three evolutionary phases: (1) development of first-generation software to render orthogonal view displays and wireframe models; (2) expansion of this software to include interactive viewpoint control, surface-shaded graphics, material (scalar and nonscalar) property data, cut/slice planes, color and visibility mapping, and generalized object models; (3) demonstration of ICERVS as a tool for the remediation of underground storage tanks (USTs) and the dismantlement of contaminated processing facilities. Part II of this report details the software design of ICERVS, with particular emphasis on its object-oriented architecture and user interface.