Co-Design Dedicated System for Efficient Object Tracking Using Swarm Intelligence-Oriented Search Strategies

Abstract

The template matching technique is one of the most applied methods to find patterns in images, in which a reduced-size image, called a target, is searched within another image that represents the overall environment. In this work, template matching is used via a co-design system. A hardware coprocessor is designed for the computationally demanding step of template matching, which is the calculation of the normalized cross-correlation coefficient. This computation allows invariance in the global brightness changes in the images, but it is computationally more expensive when using images of larger dimensions, or even sets of images. Furthermore, we investigate the performance of six different swarm intelligence techniques aiming to accelerate the target search process. To evaluate the proposed design, the processing time, the number of iterations, and the success rate were compared. The results show that it is possible to obtain approaches capable of processing video images at 30 frames per second with an acceptable average success rate for detecting the tracked target. The search strategies based on PSO, ABC, FFA, and CS are able to meet the processing time of 30 frame/s, yielding average accuracy rates above 80% for the pipelined co-design implementation. However, FWA, EHO, and BFOA could not achieve the required timing restriction, and they achieved an acceptance rate around 60%. Among all the investigated search strategies, the PSO provides the best performance, yielding an average processing time of 16.22 ms coupled with a 95% success rate.

Keywords

• object tracking
• template matching
• swarm intelligence
• image cross-correlation