Hardware implementation of a cascade particle filter

Abstract

Recently, many researchers tackle accurate object recognition algorithms and many algorithms are proposed. However, these algorithms have some problems caused by variety of real environments such as a direction change of the object or its shading change. The new tracking algorithm, cascade particle filter, is proposed to fill such demands in real environments by constructing the object model while tracking the objects. We have been investigating to implement accurate object recognition on embedded systems in real-time. In order to apply the cascade particle filter to embedded applications such as surveillance, automotives, and robotics, a hardware accelerator is indispensable because of limitations in power consumption. In this paper we propose a hardware architecture of the cascade particle filter. With our implementation, both the accurate object recognition and real-time processing are possible at an embedded system.