Computer Engineering Paper Massimo Bertozzi, Alberto Broggi, Gianni Conte, and Alessandra Fascioli, Stereo Vision System Performance Analysis, In Sergio Taraglio and Vincenzo Nanni, editors, Enabling Technologies for the PRASSI Autonomous Robot, pages 68-73. ENEA, Rome, Italy, January 2002, ISBN 8882860248,
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ABSTRACT

Since one of the main requirements for PRASSI Project is the robust detection of obstacles on the path of a moving robot, a deep analysis of the performance of Obstacle Detection is imperative. This paper presents a critical analysis of the obstacle detection functionality developed by the research unit of the University of Parma, whose main characteristics are its low cost and the use of visual information only. This paper surveys the sets of results obtained so far, highlights its characteristics, and discusses the main advantages and problems of such a solution.

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