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This work presents ARGO, the experimental land vehicle developed at the Dipartimento di Ingegneria dell'Informazione of the University of Parma, Italy. ARGO integrates the GOLD (Generic Obstacle and Lane Detection) system, a stereo vision-based hardware and software architecture that allows to detect both generic obstacles (without constraints on shape, color, or symmetry) on flat roads and the lane position in structured environments (with painted lane markings). In addition, this paper presents a new approach that allows to handle also non-flat roads.