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The authors briefly summarize the vision system used by the ARGO autonomous vehicle to sense the surrounding environment and the basics of the algorithm used to detect lane markings in real time. The system, based on a pair of low-cost black-and-white cameras, can autonomously steer the vehicle, thanks to a stepping motor installed on the steering column. In the MilleMiglia in Automatico tour, which took place in the first week of June 1998, ARGO drove autonomously for about 2,000 km on Italian public roads in real traffic conditions.

A. Fascioli, A. Broggi and M. Bertozzi, "ARGO and the MilleMiglia in Automatico Tour," in IEEE Intelligent Systems, vol. 14, no. , pp. 55-64, 1999.
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