A surface-discharge type PDP includes plural electrode pairs formed of first and second sustain electrodes arranged on a first substrate. Registration information is provided to the route computation processor by the forwarding engines, and the forwarding engines are recognized and identified by the route computation processor in response. The reference feature vectors are searched to find one or more candidate objects among the reference objects, such that a respective reference feature vector of one of the reference image frames in each of the one or more candidate objects matches the query feature vector.