You can use AutoGK with the contents of the Video_TS folder. You just pick the appropriate IFO as the input file.
For example, this screenshot is from a ripped DVD with lots of VOBs. Look for the set of VOBs that is the "biggest." So here you can see that VTS_02 is about 4 gigs - this is the movie (the other things are probably special features, trailers, etc). So I circled the IFO that you would want to grab.
That said, from your question, it might seem that all you have is a VOB file? If this the case, the answer might be different, but you can also just grab that VOB as the input file. FYI - VOBs are just container files for MPEGs. The DVD structure limits the size of VOBs so the MPEG is split across mutiple VOB files.