Skip to main content

A Dynamic Reconfigurable Hardware/Software Architecture for Object Tracking in Video Streams


This paper presents the design and implementation of a feature tracker on an embedded reconfigurable hardware system. Contrary to other works, the focus here is on the efficient hardware/software partitioning of the feature tracker algorithm, a viable data flow management, as well as an efficient use of memory and processor features. The implementation is done on a Xilinx Spartan 3 evaluation board and the results provided show the superiority of our implementation compared to the other works.

[1 2 3 4 5 6 7 8 9 10 11 12 13 14]


  1. Bissacco A, Meltzer J, Ghiasi S, Soatto S, Sarrafzadeh M: Fast visual feature selection and tracking in a hybrid reconfigurable architecture. UCLA, Los Angeles, Calif, USA; 2004.

    Google Scholar 

  2. Bobda C, Majer M, Ahmadinia A, et al.: The erlangen slot machine: a highly flexible fpga-based reconfigurable platform. Proceedings of the 13th Annual IEEE Symposium on Field-Programmable Custom Computing Machines (FCCM '05), April 2005, Napa, Calif, USA 319-320.

    Chapter  Google Scholar 

  3. Chen J, Silver D, Parashar M: Real time feature extraction and tracking in a computational steering environment. In Proceedings of the High Performance Computing Symposium (HPC '03), March-April 2003, San Diego, Calif, USA. Society for Modeling and Simulation International; 155-160.

    Google Scholar 

  4. Feng X, Perona P: Real time motion detection system and scene segmentation. In Tech. Rep. CIT-CDS-98-004. California Institute of Technology, Pasadena, Calif, USA; 1998.

    Google Scholar 

  5. Ghiasi S, Nahapetian A, Moon HJ, Sarrafzadeh M: Reconfiguration in network of embedded systems: challenges and adaptive tracking case study. Journal of Embedded Computing 2005,1(1):147-166.

    Google Scholar 

  6. Kulaczewski MB, Siegel HJ: Implementations of a feature-based visual tracking algorithm on two MIMD machines. Proceedings of the International Conference on Parallel Processing, August 1997, Bloomington, Ill, USA 422-430.

    Google Scholar 

  7. Kulaczewski MB, Siegel HJ: SIMD and mixed-mode implementations of a visual tracking algorithm. Proceedings of the International Parallel Processing Symposium (IPPS/SPDP '98), March-April 1998, Orlando, Fla, USA 716-720.

    Google Scholar 

  8. Lucas BD, Kanade T: An iterative image registration technique with an application to stereo vision. Proceedings of the 7th International Joint Conference on Artificial Intelligence (IJCAI '81), August 1981, Vancouver, BC, Canada 674-679.

    Google Scholar 

  9. Lysaght P: FPGAs in the decade after the von Neumann century. Friday workshop at Design, Automation and Test European (DATE '06), March 2006, Munich, Germany

    Google Scholar 

  10. Nister D, Naroditsky O, Bergen J: Visual odometry. In Tech. Rep. CN5300. Sarnoff Corporation, Princeton, NJ, USA; 2004.

    Google Scholar 

  11. Shi J, Tomasi C: Good features to track. In Tech. Rep. TR-93-1399. Department of Computer Science, Cornell University, Ithaca, NY, USA; 1993.

    Google Scholar 

  12. Shi J, Tomasi C: Good features to track. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '94), June 1994, Seattle, Wash, USA 593-600.

    Google Scholar 

  13. Tomasi C, Kanade T: Detection and tracking of point features. In Tech. Rep. CMUCS-91-131. Carnegie Mellon University, Pittsburgh, Pa, USA; 1991.

    Google Scholar 

  14. Zinßer T, Gräßl C, Niemann H: Efficient feature tracking for long video sequences. Proceedings of the 26th DAGM Symposium, August-September 2004, Tübingen, Germany 326-333.

    Google Scholar 

Download references

Author information

Authors and Affiliations


Corresponding author

Correspondence to Felix Mühlbauer.

Rights and permissions

Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License ( ), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Reprints and permissions

About this article

Cite this article

Mühlbauer, F., Bobda, C. A Dynamic Reconfigurable Hardware/Software Architecture for Object Tracking in Video Streams. J Embedded Systems 2006, 082564 (2006).

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • DOI: