“Implementation of Hardware Engine for Real-Time KLT Tracker”

A real-time object tracking becomes more and more important in a wide variety of vehicle or surveillance camera systems. This paper focuses on implementation of a hardware engine for a real-time KLT Tracker (Kanade-Lucas-Tomasi) which is known as a robust object tracking algorithm. The proposed architecture includes stream data and parallel processing schemes for high performance. Furthermore, a memory I/F based on FIFO and image block buffer enable to reduce a memory access delay. Experimental results based on FPGA show that the proposed engine can attain 9 ms @ 100 MHz for a 640 × 480 image with 100 feature points.