The M-Audio MobilePre USB accepts XLR mic connections, but I don't know whether you Velodyne mic could be used with that, sorry. Mics typically need a preamp of some sort, such as the MobilePre or the UB802 that is often used with the Behringer ECM8000, see this thread, for example:
http://www.hometheatershack.com/foru...-i-set-up.html