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A multi-sensor for the detection and classification of objects in indoor environments, merging the outputs from an infrared (IR) diode array and an ultrasonic (US) range sensor to get a reliable 2D image of objects in front of the sensor, is described. With the IR sensor array consisting of up to 8 emitter-receiver pairs, multiple objects can be detected and their,lateral dimensions can be estimated, whereas the distance to the target follows mainly from the time-of-flight of the sonar echoes. The sensors itself are simple and cheap off-the shelf components, making the solution significantly low-cost. Evaluating the proposed IR-US multi-sensor in more than one position towards the object, a simple 2D or even 3D picture of the object scene can be obtained. The maximum range, of approx. 1 meter (limited by the IR sensor) is sufficient for many potential applications like robotics and automation, process control, remote sensing, and security systems.