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Table 3 The timing comparison in the worst case and the best case

From: Proposed hardware architectures of particle filter for object tracking

HW implementation Worst case Best case
The two-step architecture with sequential resampling a = 2
3M + 1+TL
196 cycle
a = 1
2M + 1+TL
132 cycle
The two-step architecture with parallel resampling a = 2
2M + 2 + TL
132 cycle
a = 1
M + 2 + TL
69 cycle
The distributed PF a = 2 and b = 1
2M/K + K+M+2+TL
93 cycle
a = 1 and b = 0
2M/K + K +2+TL
29 cycle