Implementing a real-time image-processing algorithm on a serial processor is difficult to achieve because such a processor cannot cope with the volume of data in the low-level operations. However, a parallel implementation, required to meet timing constraints for the low-level operations, results in low resource utilisation when implementing the high-level operations. These factors suggested a combination of parallel hardware, for the low-level operations, and a serial processor, for the high-level operations, for implementing a high-level image-processing algorithm. Several types of serial processors were available. A general-purpose processor requires an extensive instruction set to be able to execute any arbitrary algorithm res...