To move around the 3D world in Surveyor right-click somewhere on the terrain. The camera will move to the desired position. To move around quickly, simply hold down the right mouse button and move the mouse in the desired direction (can be used in combination with the arrow keys to rotate/pan quickly).
Use the arrow keys to rotate/tilt the camera. Use page up and page down, or the mouse wheel to zoom in and out. Hold down shift while using any of these keys to rotate/tilt/zoom more slowly.
Holding down control in combination with the arrow keys will move the camera focus point within the 3D world.