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T his article describes an imaging system that has been designed to facilitate robotic tasks of motion. The system consists of a number of cameras in a network, arranged so that they sample different parts of the visual sphere. This geometric configuration has provable advantages compared to small field of view cameras for the estimation of the system's own motion and, consequently, the estimation of shape models from the individual cameras. The reason is, inherent ambiguities of confusiondoi:10.1109/mra.2004.1371606 fatcat:zjd4j5s3mzh4hl7upm23r4g6by