Object tracking based on hardware/software co-design of particle filter and particle swarm optimization

This paper presents a hardware/software co-design method for a hybrid object tracking algorithm incorporating particle filter (PF) and particle swarm optimization (PSO) based on System On Program Chip (SOPC) technique. Considering both the execution speed and design flexibility, we use a embedded processor to calculate weight for each particle and a hybrid accelerator implemented by hardware to update particles. As a result, execution efficiency of the proposed hardware/software co-design method is significantly improved while maintaining design flexibility for various embedded applications. As soon as prototype testing for a specific problem is completed by using the software weight assignment, full hardware implementation of the weight calculating module can be used to speed up the execution speed.