IEICE TRANSACTIONS on Information
High Temporal Resolution-Based Temporal Iterative Tracking for High Framerate and Ultra-Low Delay Dynamic Tracking System
Summary :
High frame rate and ultra-low delay vision system, which can finish reading and processing of 1000fps sequence within 1ms/frame, draws increasing attention in the field of robotics that requires immediate feedback from image process core. Meanwhile, tracking task plays an important role in many computer vision applications. Among various tracking algorithms, Lucas Kanade (LK)-based template tracking, which tracks targets with high accuracy over the sub-pixel level, is one of the keys for robotic applications, such as factory automation (FA). However, the substantial spatial iterative processing and complex computation in the LK algorithm, make it difficult to achieve a high frame rate and ultra-low delay tracking with limited resources. Aiming at an LK-based template tracking system that reads and processes 1000fps sequences within 1ms/frame with small resource costs, this paper proposes: 1) High temporal resolution-based temporal iterative tracking, which maps the spatial iterations into the temporal domain, efficiently reduces resource cost and delay caused by spatial iterative processing. 2) Label scanner-based multi-stream spatial processing, which maps the local spatial processing into the labeled input pixel stream and aggregates them with a label scanner, makes the local spatial processing in the LK algorithm possible be implemented with a small resource cost. Algorithm evaluation shows that the proposed temporal iterative tracking performs dynamic tracking, which tracks object with coarse accuracy when it's moving fast and achieves higher accuracy when it slows down. Hardware evaluation shows that the proposed label scanner-based multi-stream architecture makes the system implemented on FPGA (zcu102) with resource cost less than 20%, and the designed tracking system supports to read and process 1000fps sequence within 1ms/frame.
- Publication
- IEICE TRANSACTIONS on Information Vol.E105-D No.5 pp.1064-1074
- Publication Date
- 2022/05/01
- Publicized
- 2022/02/22
- Online ISSN
- 1745-1361
- DOI
- 10.1587/transinf.2021EDP7200
- Type of Manuscript
- PAPER
- Category
- Image Processing and Video Processing
Authors
Tingting HU
Waseda University,Panasonic Corporation
Ryuji FUCHIKAMI
Panasonic Corporation
Takeshi IKENAGA
Waseda University
Keyword
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Tingting HU, Ryuji FUCHIKAMI, Takeshi IKENAGA, "High Temporal Resolution-Based Temporal Iterative Tracking for High Framerate and Ultra-Low Delay Dynamic Tracking System" in IEICE TRANSACTIONS on Information,
vol. E105-D, no. 5, pp. 1064-1074, May 2022, doi: 10.1587/transinf.2021EDP7200.
Abstract: High frame rate and ultra-low delay vision system, which can finish reading and processing of 1000fps sequence within 1ms/frame, draws increasing attention in the field of robotics that requires immediate feedback from image process core. Meanwhile, tracking task plays an important role in many computer vision applications. Among various tracking algorithms, Lucas Kanade (LK)-based template tracking, which tracks targets with high accuracy over the sub-pixel level, is one of the keys for robotic applications, such as factory automation (FA). However, the substantial spatial iterative processing and complex computation in the LK algorithm, make it difficult to achieve a high frame rate and ultra-low delay tracking with limited resources. Aiming at an LK-based template tracking system that reads and processes 1000fps sequences within 1ms/frame with small resource costs, this paper proposes: 1) High temporal resolution-based temporal iterative tracking, which maps the spatial iterations into the temporal domain, efficiently reduces resource cost and delay caused by spatial iterative processing. 2) Label scanner-based multi-stream spatial processing, which maps the local spatial processing into the labeled input pixel stream and aggregates them with a label scanner, makes the local spatial processing in the LK algorithm possible be implemented with a small resource cost. Algorithm evaluation shows that the proposed temporal iterative tracking performs dynamic tracking, which tracks object with coarse accuracy when it's moving fast and achieves higher accuracy when it slows down. Hardware evaluation shows that the proposed label scanner-based multi-stream architecture makes the system implemented on FPGA (zcu102) with resource cost less than 20%, and the designed tracking system supports to read and process 1000fps sequence within 1ms/frame.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.2021EDP7200/_p
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@ARTICLE{e105-d_5_1064,
author={Tingting HU, Ryuji FUCHIKAMI, Takeshi IKENAGA, },
journal={IEICE TRANSACTIONS on Information},
title={High Temporal Resolution-Based Temporal Iterative Tracking for High Framerate and Ultra-Low Delay Dynamic Tracking System},
year={2022},
volume={E105-D},
number={5},
pages={1064-1074},
abstract={High frame rate and ultra-low delay vision system, which can finish reading and processing of 1000fps sequence within 1ms/frame, draws increasing attention in the field of robotics that requires immediate feedback from image process core. Meanwhile, tracking task plays an important role in many computer vision applications. Among various tracking algorithms, Lucas Kanade (LK)-based template tracking, which tracks targets with high accuracy over the sub-pixel level, is one of the keys for robotic applications, such as factory automation (FA). However, the substantial spatial iterative processing and complex computation in the LK algorithm, make it difficult to achieve a high frame rate and ultra-low delay tracking with limited resources. Aiming at an LK-based template tracking system that reads and processes 1000fps sequences within 1ms/frame with small resource costs, this paper proposes: 1) High temporal resolution-based temporal iterative tracking, which maps the spatial iterations into the temporal domain, efficiently reduces resource cost and delay caused by spatial iterative processing. 2) Label scanner-based multi-stream spatial processing, which maps the local spatial processing into the labeled input pixel stream and aggregates them with a label scanner, makes the local spatial processing in the LK algorithm possible be implemented with a small resource cost. Algorithm evaluation shows that the proposed temporal iterative tracking performs dynamic tracking, which tracks object with coarse accuracy when it's moving fast and achieves higher accuracy when it slows down. Hardware evaluation shows that the proposed label scanner-based multi-stream architecture makes the system implemented on FPGA (zcu102) with resource cost less than 20%, and the designed tracking system supports to read and process 1000fps sequence within 1ms/frame.},
keywords={},
doi={10.1587/transinf.2021EDP7200},
ISSN={1745-1361},
month={May},}
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TY - JOUR
TI - High Temporal Resolution-Based Temporal Iterative Tracking for High Framerate and Ultra-Low Delay Dynamic Tracking System
T2 - IEICE TRANSACTIONS on Information
SP - 1064
EP - 1074
AU - Tingting HU
AU - Ryuji FUCHIKAMI
AU - Takeshi IKENAGA
PY - 2022
DO - 10.1587/transinf.2021EDP7200
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E105-D
IS - 5
JA - IEICE TRANSACTIONS on Information
Y1 - May 2022
AB - High frame rate and ultra-low delay vision system, which can finish reading and processing of 1000fps sequence within 1ms/frame, draws increasing attention in the field of robotics that requires immediate feedback from image process core. Meanwhile, tracking task plays an important role in many computer vision applications. Among various tracking algorithms, Lucas Kanade (LK)-based template tracking, which tracks targets with high accuracy over the sub-pixel level, is one of the keys for robotic applications, such as factory automation (FA). However, the substantial spatial iterative processing and complex computation in the LK algorithm, make it difficult to achieve a high frame rate and ultra-low delay tracking with limited resources. Aiming at an LK-based template tracking system that reads and processes 1000fps sequences within 1ms/frame with small resource costs, this paper proposes: 1) High temporal resolution-based temporal iterative tracking, which maps the spatial iterations into the temporal domain, efficiently reduces resource cost and delay caused by spatial iterative processing. 2) Label scanner-based multi-stream spatial processing, which maps the local spatial processing into the labeled input pixel stream and aggregates them with a label scanner, makes the local spatial processing in the LK algorithm possible be implemented with a small resource cost. Algorithm evaluation shows that the proposed temporal iterative tracking performs dynamic tracking, which tracks object with coarse accuracy when it's moving fast and achieves higher accuracy when it slows down. Hardware evaluation shows that the proposed label scanner-based multi-stream architecture makes the system implemented on FPGA (zcu102) with resource cost less than 20%, and the designed tracking system supports to read and process 1000fps sequence within 1ms/frame.
ER -
English
