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Benchmarking

Hardware Used:

  • CPU: Intel(R) Core(TM) i9-9900K CPU @ 3.60GHz
  • GPU: 8GB (RTX2080)

Trackers

DeepSort

Model Model Flag FPS-GPU FPS-CPU
DeepSort-ONNX-Yolov5s DEEPSORT 13 3.2
DeepSort-Pytorch-Yolov5s DEEPSORT 13 3.2

ByteTrack

Model Model Flag FPS-GPU FPS-CPU
ByteTrack-ONNX-YOLOv5s BYTETRACK 33.7 17.4
ByteTrack-Pytorch-Sample-YOLOv5s BYTETRACK 33.7 17.4

NorFair

Model Model Flag FPS-GPU FPS-CPU
tryolab-ONNX-YOLOv5s NORFAIR 25.8 12
tryolab-Pytorch-YOLOv5s NORFAIR 25.8 12

Detectors

YOLOv5

Pytorch ONNX
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOV5X6_PYTORCH 20.8 3.69
YOLOV5S_PYTORCH 57.25 25.4
YOLOV5N_PYTORCH 68 45
YOLOV5M_PYTORCH 54 14
YOLOV5L_PYTORCH 40.06 8.28
YOLOV5X_PYTORCH 28.8 4.32
YOLOV5N6_PYTORCH 63.5 39
YOLOV5S6_PYTORCH 58 23
YOLOV5M6_PYTORCH 49 10
YOLOV5L6_PYTORCH 33 6.5
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOV5X6_ONNX 2.58 2.46
YOLOV5S_ONNX 17 16.35
YOLOV5N_ONNX 57.25 35.23
YOLOV5M_ONNX 45.8 11.17
YOLOV5L_ONNX 4.07 4.36
YOLOV5X_ONNX 2.32 2.6
YOLOV5N6_ONNX 28.6 32.7
YOLOV5S6_ONNX 17 16.35
YOLOV5M6_ONNX 7.5 7.6
YOLOV5L6_ONNX 3.7 3.98

YOLOv6

Pytorch ONNX
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOV6N_PYTORCH 65.4 35.32
YOLOV6T_PYTORCH 63 15.21
YOLOV6S_PYTORCH 49.24 20
YOLOV6M_PYTORCH 35 9.96
YOLOV6L_PYTORCH 31 6.2
YOLOV6L_RELU_PYTORCH 27 6.3
YOLOV6S_REPOPT_PYTORCH 63.5 39
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOV6N_ONNX 50 30
YOLOV6T_ONNX 45.8 16
YOLOV6S_ONNX 41 13.8
YOLOV6M_ONNX 25 6.07
YOLOV6L_ONNNX 17.7 3.32
YOLOV6L_RELU_ONNX 19.15 4.36
YOLOV6S_REPOPT_ONNX 63.5 39

YOLOv7

PyTorch ONNX
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOV7_TINY_PYTORCH 53 19
YOLOV7_PYTORCH 38 6.83
YOLOV7_X_PYTORCH 28 4.36
YOLOV7_W6_PYTORCH 32.7 7.26
YOLOV7_E6_PYTORCH 15.26 3.07
YOLOV7_D6_PYTORCH 21 3.78
YOLOV7_E6E_PYTORCH 24 3.36
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOV7_TINY_ONNX 41.6 22
YOLOV7_ONNX 26 3.78
YOLOV7_X_ONNX 19.08 2.35
YOLOV7_W6_ONNX 28.6 5.2
YOLOV7_E6_ONNX 14.3 2.97
YOLOV7_D6_ONNX 18.32 2.58
YOLOV7_E6E_ONNX 15.26 2.09

YOLOR

Pytorch ONNX
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOR_CSP_X_PYTORCH 28.6 1.83
YOLOR_CSP_X_STAR_PYTORCH 30 1.76
YOLOR_CSP_STAR_PYTORCH 38.1 2.86
YOLOR_CSP_PYTORCH 38 2.77
YOLOR_P6_PYTORCH 20 1.57
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOR_CSP_X_ONNX 15.7 2.53
YOLOR_CSP_X_STAR_ONNX 15.79 2.05
YOLOR_CSP_STAR_ONNX 18.32 3.34
YOLOR_CSP_ONNX 15.7 2.53
YOLOR_P6_ONNX 25.4 5.58

YOLOX

Pytorch ONNX
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOX_L_PYTORCH 2.58 2.31
YOLOX_NANO_PYTORCH 35 32
YOLOX_TINY_PYTORCH 25.4 25.4
YOLOX_DARKNET_PYTORCH 2 1.94
YOLOX_S_PYTORCH 9.54 9.7
YOLOX_M_PYTORCH 4.4 4.36
YOLOX_X_PYTORCH 15.64 1.39
Model Name / Model Flag FPS-GPU FPS-CPU
YOLOX_L_ONNX 22.9 3.07
YOLOX_NANO_ONNX 59 54
YOLOX_TINY_ONNX 60 35
YOLOX_DARKNET_ONNX 24 3.36
YOLOX_S_ONNX 45 13.8
YOLOX_M_ONNX 32 6.54
YOLOX_X_ONNX 15.79 2.03

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