A Parallel Implementation of the Color-Based Particle Filter for Object Tracking
Henry Ponti Medeiros, Xinting Gao, Johnny Park, Richard P. Kleihorst, Avinash C. Kak · 2008
In this paper, we present an implementation on an SIMD parallel processor of an object tracker based on a color-based particle filter. The main focus of our work is on the parallel computation of the particle weights, which is the major bottleneck in standard implementations of the color-based particle filter since it requires the knowledge of the histograms of the regions surrounding each hypothesized target position. In addition to that, we also show that the remaining steps of the particle filter can be efficiently implemented on an SIMD processor. We have implemented the algorithm in a low-power SIMD-based smart camera, and the experiments show that it performs robust tracking at 30 fps.