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Cucchiara, R.; Perini, E.; Pistoni, G. "Efficient stereo vision for obstacle detection and AGV navigation" Proceedings - 14th International conference on Image Analysis and Processing, ICIAP 2007, Modena, ita, pp. 291 -296 , 2007, 2007 DOI: 10.1109/ICIAP.2007.4362794

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