@article{ref1,
title="Rapidly adapting machine vision for automated vehicle steering",
journal="IEEE intelligent systems",
year="1996",
author="Pomerleau, Dean and Jochem, Todd",
volume="11",
number="2",
pages="19-27",
abstract="Ralph (Rapidly Adapting Lateral Position Handler) is a vision system developed jointly by Carnegie Mellon University and AssistWare Technology Inc. Ralph decomposes vehicle steering into three steps: sampling the image, determining the road curvature, and assessing the lateral offset of the vehicle relative to the lane center. Ralph combines the outputs of the latter two steps into a steering command, which it can send to the steering motor on the Navlab 5 testbed vehicle for autonomous steering control. As a road-departure warning system, Ralph can also compare this command with the human driver's steering direction.<p />",
language="",
issn="1541-1672",
doi="10.1109/64.491277",
url="http://dx.doi.org/10.1109/64.491277"
}