Dickmanns 1999 : After a brief review of elder system architectures for bifocal vision and their deficiencies, the ‘MarVEye’ camera configuration realized with three to four conventional miniature CCD-TV-cameras mounted fix relative to each other on a high bandwidth pan-and-tilt platform is discussed. A saccadic type of vision with intermittent phases of fast saccades and smooth pursuit does complicate image sequence interpretation; however, with explicit spatio-temporal representations available in the 4-D approach this can be handled in a straightforward way. The newly developed machine vision system based on COTS-PC-hardware and object-oriented programming is presented. Applications in the field of road vehicle guidance are discussed.