A transmitter for wireless power transmission, the transmitter comprising: one or more processors configured to: receive, from an imaging sensor, imaging data for a living being and/or sensitive object within at least a portion of a transmission field of the transmitter, wherein the image data comprises a visual angle of a visual object within a field of view of the imaging sensor; receive, from an ultrasound sensor, ultrasound detection data to detect a living being and/or sensitive object within the transmission field of the transmitter, wherein the ultrasound data comprises an ultrasound angle of an ultrasound object within an ultrasound scan region, and the one or more processors compare the visual angle with the ultrasound angle to determine that the visual object corresponds to the ultrasound object; determine, based on the imaging data and the ultrasound detection data, a location of the living being and/or sensitive object within the transmission field of the transmitter, wherein combining the data from both the ultrasound sensor and imaging sensor provides more effective object detection and location than would be achieved using only the ultrasound sensor or only the imaging sensor; and determine one or more characteristics for a power transmission signal based on the location of the living being and/or sensitive object within the transmission field of the transmitter, wherein the one or more characteristics satisfy a first safety technique of one or more safety techniques, the first safety technique including a margin of error beyond a nominal limit; and at least one antenna configured to transmit the power transmission signal having the one or more characteristics to a wireless-power receiver located within the transmission field of the transmitter. one or more processors configured to: receive, from an imaging sensor, imaging data for a living being and/or sensitive object within at least a portion of a transmission field of the transmitter, wherein the image data comprises a visual angle of a visual object within a field of view of the imaging sensor; receive, from an ultrasound sensor, ultrasound detection data to detect a living being and/or sensitive object within the transmission field of the transmitter, wherein the ultrasound data comprises an ultrasound angle of an ultrasound object within an ultrasound scan region, and the one or more processors compare the visual angle with the ultrasound angle to determine that the visual object corresponds to the ultrasound object; determine, based on the imaging data and the ultrasound detection data, a location of the living being and/or sensitive object within the transmission field of the transmitter, wherein combining the data from both the ultrasound sensor and imaging sensor provides more effective object detection and location than would be achieved using only the ultrasound sensor or only the imaging sensor; and determine one or more characteristics for a power transmission signal based on the location of the living being and/or sensitive object within the transmission field of the transmitter, wherein the one or more characteristics satisfy a first safety technique of one or more safety techniques, the first safety technique including a margin of error beyond a nominal limit; and receive, from an imaging sensor, imaging data for a living being and/or sensitive object within at least a portion of a transmission field of the transmitter, wherein the image data comprises a visual angle of a visual object within a field of view of the imaging sensor; receive, from an ultrasound sensor, ultrasound detection data to detect a living being and/or sensitive object within the transmission field of the transmitter, wherein the ultrasound data comprises an ultrasound angle of an ultrasound object within an ultrasound scan region, and the one or more processors compare the visual angle with the ultrasound angle to determine that the visual object corresponds to the ultrasound object; determine, based on the imaging data and the ultrasound detection data, a location of the living being and/or sensitive object within the transmission field of the transmitter, wherein combining the data from both the ultrasound sensor and imaging sensor provides more effective object detection and location than would be achieved using only the ultrasound sensor or only the imaging sensor; and determine one or more characteristics for a power transmission signal based on the location of the living being and/or sensitive object within the transmission field of the transmitter, wherein the one or more characteristics satisfy a first safety technique of one or more safety techniques, the first safety technique including a margin of error beyond a nominal limit; and at least one antenna configured to transmit the power transmission signal having the one or more characteristics to a wireless-power receiver located within the transmission field of the transmitter.