This paper by Cabido et al. presents a real-time object tracking algorithm, based on the hybridization of particle filtering (PF) and a multi-scale local search (MSLS) algorithm, for both CPU and GPU architectures. The developed system provides successful results in precise tracking of single and multiple targets in monocular video, operating in real-time at 70 frames per second for 640 × 480 video
resolutions on the GPU, up to 1,100% faster than the CPU version of the algorithm. (
Multiscale and local search methods for real time region tracking with particle filters: local search driven by adaptive scale estimation on GPUs. Raul Cabido, Antonio S. Montemayor, Juan Jose Pantrigo, and Bryson R. Payne.
Machine Vision and Applications, Springer, 2008.)