Robust and video-frame rate tracking of planar motion by matched filtering on FPGA

We describe the implementation of a vision algorithm based on matched filtering on an FPGA. Detection of a reference image in an input image must be performed in real-time and robustly against occlusion and change of illumination. Vision algorithm based on matched filtering can perform the detection robustly but requires much computation time since it includes 2D FFT/IFFT and polar transform. In this article, we implement the algorithm on an FPGA so that the detection is performed in real-time and robustly.