The field of ADAS (Advanced Driver-Assistance Systems) is nowadays seeing an increase in interest from the scientific community, due to its numerous applications and possibilities in many engineering contexts, such as automotive, robotics, and so on. Considering this, the topic of computer vision applied to autonomous driving is therefore a fundamental branch of the research. The main purpose of this work is to develop and validate a stereo vision system that is suitable for running in an efficient manner on an embedded system (Nvidia Jetson Nano) with real-time constraints. The context is the autonomous navigation of a mobile robot in the healthcare segment, and in particular of an autonomous driving wheelchair developed by Teoresi Group and known as ALBA project.