基于嵌入式多核DSP系统的并行粒子滤波目标跟踪.pdfVIP

第 卷第 期 年 月 43 7 红外与激光工程 2014 7 Vol.43 No.7 Infrared and Laser Engineering Jul. 2014 Parallel particle filter object tracking based on embedded multicore DSP systems Tian Li , Zhou Fugen , Meng Cai (Image Processing Center , School of Astronautics, Beihang University , Beij ing 100191, China) Abstract : The obj ect tracking servo system requires a low delay from an obj ect moving to starting of rotations while the inherent computational complexity of PF (Particle Filter) affects the tracking precision . In this paper , a multicore DSP parallel implementation strategy for particle filter obj ect tracking was proposed . Firstly , the PA module on chip was used to reduce the GigE image capturing delay and the CPU occupancy . The CPU load was considerably reduced from 31% to 10% . Secondly , by manually FLUSH after writing and INVALID before reading, the memory consistency problem was addressed and cacheable shared image data can be accessed at high efficiency . Finally , a mechanism of parallel computing on multi鄄core processor was introduced by adding proxy task . The computational intensive stages of particle filter were dispatched to 8 cores to eliminate system delay . Experimental results show that the tracking response time was decreased and algorithmic speedup runs up to 7 and exceeds OpenMP . Key words : particle filter ; obj ect tracking ; multicore DSP ; parallel computing CLC number : TP391.4 Document code : A Article ID : 1007-2276(2014)07-2354