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performance.md

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Performance measurements

Hardware

Name Device CPU RAM, Gi
A4000 RTX A4000 AMD Ryzen 7 3700X 8-Core Processor 62
Xavier NX Jetson Xavier NX Developer Kit ARMv8 Processor rev 1 (v8l), MODE 20W, Clocks On 8
Orin Nano Orin Nano Developer Kit ARMv8 Processor rev 1 (v8l), MODE 15W, Clocks On 8

Pipeline FPS

age_gender_recognition

Savant ver. A4000 Xavier NX Orin Nano
#407 174.10 36.34
#456 171.82 35.73
#443 178.01 33.75
#443 (queue length 10) 161.77 37.95
#352 371.42 53.67? 70.58
#550 371.29 71.79
#612 376.48 71.95
#641 373.69 80.4
#783 349.08 79.80
#785 333.17 79.88
#679 332.82 79.34
#844 330.36 79.45

conditional_video_processing

Savant ver. A4000 Xavier NX
#244 327 64
v0.2.4 325.64 64.90
#334 315.22 63.87
#334 (queue length 10) 288.91 61.60
#341 311.62 61.46
#347 263.44 59.86
#407 263.89 63.52
#456 257.63 62.77
#443 260.36 63.60
#443 (queue length 10) 248.70 58.37

face_reid

Savant ver. A4000 Xavier NX Orin Nano
#142 124 26
#341 121.11 25.4
#347 118.79 25.99
#407 127.37 27.61
#456 127.23 28.71
#443 130.15 28.72
#352 224.22 36.45? 48.92
#550 229.22 49.77
#612 229.51 50.04
#641 231.26 54.8
#783 220.24 54.48
#785 217.75 54.88
#679 214.66 54.41
#844 212.96 54.10

fisheye_line_crossing

Savant ver. A4000 Xavier NX Orin Nano
#193 86.6 23.9 33.7
#612 86.6 33.71
#641 86.64 35.46
#783 86.64 35.48
#785 86.63 34.93
#679 86.63 34.91
#844 86.63 35.44

keypoint_detection

Savant ver. A4000 Xavier NX Orin Nano
#641 284.19 58.85 79.34
#692 758.62 202.09
#783 690.44 203.47
#785 684.67 205.34
#679 743.31 206.89
#844 699.06 204.59

intersection_traffic_meter (yolov8m)

Savant ver. A4000 Xavier NX Orin Nano
#356 93.03 21.22
#443 94.56 21.56
#352 264.02 32.15? 41.14
#550 268.50 41.11
#612 271.13 41.11
#641 273.91 43.19
#783 265.54 43.10
#785 262.47 42.92
#679 264.45 43.02
#844 261.96 43.10

license_plate_recognition

Savant ver. A4000 Xavier NX Orin Nano
#455 92.4 25.29
#443 92.73 25.32
#352 270.99 35.90? 42.24
#550 272.64 41.86
#612 272.78 42.47
#641 276.78
#705 309.99 65.57
#783 311.85 65.53
#785 310.04 62.57
#679 307.23 62.52
#844 304.67 65.78

nvidia_car_classification

Savant ver. A4000 Xavier NX Orin Nano
v0.2.3 155 42
v0.2.4 161.61 45.43
#334 157.49 44.16
#334 (queue length 10) 156.72 43.24
#341 156.73 42.44
#347 151.44 42.97
#407 149.66 41.11
#456 150.07 38.76
#443 151.47 42.00
#443 (queue length 10) 149.89 41.79
#352 475.19 64.33? 133.48
#550 519.29 144.69
#612 530.02 142.89
#641 502.43 141.95
#783 460.95 138.32
#785 461.14 138.96
#679 455.11 137.86
#844 452.87 137.46

opencv_cuda_bg_remover_mog2

Savant ver. A4000 Xavier NX Orin Nano
v0.2.3 675 65
v0.2.4 689.91 87.73
#334 669.15 93.14
#334 (queue length 10) 671.76 92.41
#341 671.34 92.24
#347 608.54 91.69
#407 607.48 90.92
#456 606.74 95.05
#443 610.06 94.00
#443 (queue length 10) 618.57 95.59
#352 740.03 102.53? 130.39
#550 749.55 128.76
#612 748.87 126.41
#641 750.11 144.6
#783 708.36 140

opencv_cuda_bg_remover_mog2 (with auxiliary stream)

Savant ver. A4000
#785 1053.21
#679 1032.96
#844 1043.97

opencv_cuda_bg_remover_mog2 (multi-stream)

Savant ver. A4000 Xavier NX
#372 510.82 91.62
#372 (queue length 10) 510.97 93.20
#443 595.70 89.13
#443 (queue length 10) 598.71 87.69
#612 752.63
#612 (queue length 10) 748.87

panoptic_driving_perception

Savant ver. A4000 Xavier NX Orin Nano
#612 62.78 10.07
#641 60.64
#705 59.66 10.51
#783 58.67
#785 49.33
#679 50.19
#844 47.83

peoplenet_detector

Savant ver. A4000 Xavier NX Orin Nano
v0.2.3 125 30
v0.2.4 118.68 28.97
#334 116.35 29.31
#334 (queue length 10) 114.51 29.46
#341 117.22 29.27
#347 116.43 28.05
#407 116.61 28.54
#456 116.44 26.03
#443 124.87 29.13
#443 (queue length 10) 110.64 26.73
#352 414.61 77.47? 117.53
#550 416.32 117.34
#612 430.29 117.03
#641 430.91 111.75
#783 389.63 112.17
#785 388.26 112.07
#679 402.21 111.92
#844 378.10 112.04

RTDETR R50

Savant ver. A4000 Xavier NX Orin Nano
#558 137.41
#612 134.47
#641 119.21
#718 119.21 25
#783 114.14 25.41
#785 116.72 25.45
#679 117.00 25.46
#844 116.03 25.49

traffic_meter (yolov8m)

Savant ver. A4000 Xavier NX Orin Nano
v0.2.3 132 23
v0.2.4 140.43 23.62
#334 137.62 26.59
#334 (queue length 10) 123.98 25.61
#341 135.19 24.67
#347 136.49 24.40
#407 136.16 24.66
#456 136.80 23.29
#443 134.26 23.98
#443 (queue length 10) 123.88 19.33
#352 256.09 54.74? 41.02
#550 255.94 41.01
#612 261.18 41.03
#641 260.02 43.17
#783 255.72 43.15
#785 259.70 43.14
#679 256.11 43.21
#844 250.89 43.14

yolov8_seg

Note: yolov8_seg always has a queue length of 10.

Savant ver. A4000 Xavier NX Orin Nano
#131 45.78 14.84
#334 44.33 14.82
#341 45.21 14.02
#347 44.34 13.07
#407 67.73 21.57
#456 68.48 21.71
#443 71.28 21.95
#352 85.69 24.73? 35.96
#550 91.04 36.01
#612 91.65 36.11
#641 92.78 37.33
#783 90.71 37.38
#785 76.90 35.86
#679 77.33 35.91
#844 76.59 37.15