In this paper, we consider positioning in congested space within the framework of sensor-based control using vision and proximity sensors. Vision acts as primary sensing modality for performing the positioning task, while proximity sensors complement it by ensuring that the robotic platform does not collide with objects in the workspace. Sensor information is combined in a shared manner using the QP formalism where ideas from safety-critical control are used to express inequality constraints. The proposed method is validated through various real experiments.