A survey of the history of automatic vehicle guidance based on the processing of visual information, starting from the very first projects worldwide up to late 1990s developments. It also presents the ARGO prototype vehicle, developed at the University of Parma (Italy) and describes its equipment, set-up and performance. ARGO has been equipped with cameras and processing systems to drive autonomously in real traffic conditions. The complete system has been tested on public roads, during a tour in which ARGO drove itself along the Italian highway network for more than 2000km. A detailed analysis of this trip is also included.
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