Implementation of Kalman Filter Using Vhdl

Abstract

The main task in object tracking is to filter the movement information from undesired dynamic objects because this information is considered as noise. To cope with these difficulties the implementation of edge segment tracking (EST) algorithm based kalman filter is presented which is used to track the desired dynamic object and to filter the noise. The estimation of current state depends on the variables i.e. time, velocity, covariance and noise mainly. Segmenting objects is capable of identifying moving objects in image sequence. One object may consist of several parts with different motion as object motion and shape are less consistent within frames. The hardware implementation of kalman filter is done on FPGA (Virtex 5) using VHDL on Xilinx ISE simulator in the range of MHz clock frequency and tested with an ADC and DAC which were integrated into the design to support analog signals at the input and output of the system.