关键词: 粒子滤波, 目标跟踪, 现场可编程门阵列（FPGA）

Abstract: An improved particle filter algorithm for object tracking is presented. In order to improve the tracking accuracy and parallelize the computing step, this paper divides the random module into two parts and sorts the weight sequence so that it can choose the threshold adaptively. Additionally, the new architecture proposed takes adventage of the pipelining operation to accelerate the progress of computing and sorting. The results show that the proposed algorithm improves the tracking accuracy and efficiency in both lab scene and occlusion scene.

Key words: particle filter, object tracking, Field Programmable Gate Array（FPGA）