[Mike]

Out of curiousity, why would you need that advanced depth perception?

Personally, I think reading the tilt servo readout is sufficient. If you'd like to get more advanced you could just convert the readout to feet/meters/etc.

I would not want the CMUcam next year. It is logistically, a failure. The theoretical power of that kind of sensor is great, but it just doesn't work in real life... under real lighting conditions.