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Rapidly Adapting Lateral Position Handler (RALPH)
This project is no longer active.

Head: Dean Pomerleau
Contact: Todd Jochem (tjochem@foster-miller.com)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: VASC
Associated lab/group: NavLab

RALPH decomposes the problem of steering a vehicle into three steps, 1) sampling of the image, 2) determining the road curvature, and 3) determining the lateral offset of the vehicle relative to the lane center. The output of the later two steps are combined into a steering command, which can be compared with the human driver's current steering direction as part of a road departure warning system, or sent directly to the steering motor on our Navlab 5 testbed vehicle for autonomous steering control.

Name - Title <Email Address>
• Todd Jochem - Systems Scientist <tjochem@foster-miller.com>
• Dean Pomerleau - Adjunct Research Scientist (Adjunct) <deanp@assistware.com>
• Chuck Thorpe - Dean, Qatar Campus <thorpe@qatar.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Visibility Estimation from a Moving Vehicle Using the RALPH Vision System
  D. Pomerleau
  IEEE Conference on Intelligent Transportation Systems, November, 1997, pp. 906 - 911. [Abstract]
  Download: pdf [671 KB] copyrighted

• Fusing Radar and Vision for Detecting, Classifying and Avoiding Roadway Obstacles
  D. Langer and T. Jochem
  IEEE Symposium on Intelligent Vehicles, September, 1996. [Abstract]
  Download: pdf [499 KB] copyrighted

• Rapidly Adapting Machine Vision for Automated Vehicle Steering
  D. Pomerleau and T. Jochem
  IEEE Expert: Special Issue on Intelligent System and their Applications, Vol. 11, No. 2, April, 1996, pp. 19-27. [Abstract]
  Download: pdf [1657 KB] copyrighted

• RALPH: Rapidly Adapting Lateral Position Handler
  D. Pomerleau
  IEEE Symposium on Intelligent Vehicles, September, 1995, pp. 506 - 511. [Abstract]
  Download: pdf [614 KB] copyrighted