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A method for infrared and cameras sensor fusion, applied to indoor positioning in intelligent spaces, is proposed in this work. The fused position is obtained with a maximum likelihood estimator from infrared and camera independent observations. Specific models are proposed for variance propagation from infrared and camera observations (phase shifts and image respectively) to their respective position estimates and to the final fused estimation. Model simulations are compared with realdoi:10.3390/s19112519 fatcat:n6ljt6drbvcyxijn6r4qfifgi4