Hardware acceleration is an essential technique for extracting and tracking moving objects in real time. It is desirable to design tracking algorithms such that they are applicable for parallel computations on hardware. Exclusive block matching methods are designed for hardware implementation, and they can realize detailed motion extraction as well as robust moving object tracking. In this study, we develop tracking hardware based on an exclusive block matching method on FPGA. This tracking hardware is based on a two-dimensional systolic array architecture, and can realize robust moving object extraction and tracking at more than 100 fps for QVGA images using the high parallelism of an exclusive block matching method, synchronous shift data transfer, and special circuits to accelerate searching the exclusive correspondence of blocks.

Detailed tracking is required for many vision applications. A visual feature-based constraint underlies most conventional motion estimation methods. For example, optical flow methods assume that the brightness of each pixel is constant in two consecutive frames. However, it is difficult to realize accurate extraction and tracking using only visual feature information, because viewpoint changes and inconsistent illumination cause the visual features of some regions of objects to appear different in consecutive frames. A structure-based constraint of objects is also necessary for tracking. In the proposed method, both visual feature matching and structure matching are formulated as a linear assignment problem and then integrated.

Template matching for image sequences captured with a moving camera is very important for several applications such as Robot Vision, SLAM, ITS, and video surveillance systems. However, it is difficult to realize accurate template matching using only visual feature information such as HSV histograms, edge histograms, HOG histograms, and SIFT features, because it is affected by several phenomena such as illumination change, viewpoint change, size change, and noise. In order to realize robust tracking, structure information such as the relative position of each part of the object should be considered. In this paper, we propose a method that considers both visual feature information and structure information. Experiments show that the proposed method realizes robust tracking and determine the relationships between object parts in the scenes and those in the template.

Robust object tracking is required by many vision applications, and it will be useful for the motion analysis of moving object if we can not only track the object, but also make clear the corresponding relation of each part between consecutive frames. For this purpose, we propose a new method for moving object extraction and tracking based on the exclusive block matching. We build a cost matrix consisting of the similarities between the current frame's and the previous frame's blocks and obtain the corresponding relation by solving one-to-one matching as linear assignment problem. In addition, we can track the trajectory of occluded blocks by dealing with multi-frames simultaneously.