An Improved Color-based Particle Filter and Its Full Hardware Implementation: An Improved Color-based Particle Filter and Its Full Hardware Implementation

Nowadays, the research on the implementation of color-based particle filters is facing the problem of tracking accuracy and real-time processing speed. This paper presents a modified color-based particle filter, which basing on the traditional SR resample algorithm, scatters the left particles causing by hardware circuits around the target. Results show that proposed particle filters improve the accuracy and robustness of object tracking. Moreover, the architecture of its full hardware implementation is depicted in the paper. The experimental study on FPGA indicates that the proposed color-based particle filters perform robust tracking at 72 FPS and with 7387 LEs (Logic Element) hardware cost. In addition to that, the framework of scalable distributed particle filters and its resample scheme are presented to adapt more complex scenarios, carrying out multi-feature and multi-target tracking.