以軟硬體協同設計之粒子濾波器及其在影像追蹤之應用

Hardware/Software Co-design for Particle Filter and Its Applications in Object Tracking

王瑞斌(Jui-Pin Wang)

指導教授 ： 許陳鑑

淡江大學/工學院/電機工程學系碩士班/碩士(2010年)

https://doi.org/10.6846/TKU.2010.00800

摘要

本文是提出一可程式規劃系統晶片(System On Program Chip, SOPC) 之系統架構，針對粒子濾波器演算法，利用FPGA(Field Programming Gate Array)的硬體電路優勢，以軟硬體協同設計(HW/SW co-design)之方式實現硬體加速之功能，提升之演算法執行效率。藉由軟硬體緊密的合作，可以加快執行速度，也由於有彈性的設計方式，使得在解決各種問題時不需要重新設計硬體。最後，本文將以該軟硬體協同設計方式實現之粒子濾波器，配合多主從系統架構設計一物體影像即時追蹤系統，以驗證系統之性能表現。

關鍵字

粒子濾波器 ； 軟硬體協同設計 ； FPGA ； SOPC ； 影像追蹤

並列摘要

This paper presents a hardware/software (HW/SW) co-design approach using SOPC technique and pipeline design method to improve the execution performance of particle filter (PF) for embedded applications. Based on modular design architecture, a particle updating accelerator module via hardware implementation for updating particles and a weight evaluation module implemented on a soft-cored processor for calculating weighting for each particle are respectively designed and work closely together to accelerate the execution process. Thanks to a flexible design, the proposed approach can tackle various problems of embedded applications without the need for hardware redesign. Experiment results have demonstrated that the proposed HW/SW co-deign approach to realize particle filters has good computational efficiency to achieve a high-quality solution effectively. Finally, we realize the proposed particle filter with multi-master system architecture design to establish an image processing system for real-time object tracking

並列關鍵字

Particle Filter ； HW/SW co-design ； FPGA ； SOPC ； Object Tracking

參考文獻

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