TY  - JOUR
PY  - 1996//
TI  - Rapidly adapting machine vision for automated vehicle steering
JO  - IEEE intelligent systems
A1  - Pomerleau, Dean
A1  - Jochem, Todd
SP  - 19
EP  - 27
VL  - 11
IS  - 2
N2  - 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 /> 
LA  - 
SN  - 1541-1672
UR  - http://dx.doi.org/10.1109/64.491277
ID  - ref1
ER  -