{"id":77276,"date":"2023-03-30T13:52:27","date_gmt":"2023-03-30T05:52:27","guid":{"rendered":"https:\/\/www.seeedstudio.com\/blog\/?p=77276"},"modified":"2023-03-30T14:50:56","modified_gmt":"2023-03-30T06:50:56","slug":"yolov8-performance-benchmarks-on-nvidia-jetson-devices","status":"publish","type":"post","link":"https:\/\/www.seeedstudio.com\/blog\/2023\/03\/30\/yolov8-performance-benchmarks-on-nvidia-jetson-devices\/","title":{"rendered":"YOLOv8 Performance Benchmarks on NVIDIA Jetson Devices"},"content":{"rendered":"\n<p>This blog will talk about the performance benchmarks of all the YOLOv8 models running on different NVIDIA Jetson devices. We have specifically selected 3 different Jetson devices for this test, and they are the <a href=\"https:\/\/www.seeedstudio.com\/AGX-Orin-32GB-H01-Kit-p-5569.html\" target=\"_blank\" rel=\"noreferrer noopener\">Jetson AGX Orin 32GB H01 Kit<\/a>, <a href=\"https:\/\/www.seeedstudio.com\/reComputer-J4012-p-5586.html\" target=\"_blank\" rel=\"noreferrer noopener\">reComputer J4012 built with Orin NX 16GB<\/a>, and <a href=\"https:\/\/www.seeedstudio.com\/reComputer-J2021-p-5438.html\" target=\"_blank\" rel=\"noreferrer noopener\">reComputer J2021 built with Xavier NX 8GB<\/a>.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">What is YOLOv8?<\/h2>\n\n\n\n<p><a href=\"https:\/\/github.com\/ultralytics\/ultralytics\" target=\"_blank\" rel=\"noreferrer noopener\">YOLOv8<\/a>, developed by Ultralytics, is a cutting-edge, state-of-the-art (SOTA) model that builds upon the success of previous YOLO versions and introduces new features and improvements to further boost performance and flexibility. YOLOv8 is designed to be fast, accurate, and easy to use, making it an excellent choice for a wide range of object detection, image segmentation, and image classification tasks.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img fetchpriority=\"high\" decoding=\"async\" width=\"1030\" height=\"290\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/banner-yolov8-1030x290.png\" alt=\"\" class=\"wp-image-77277\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/banner-yolov8-1030x290.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/banner-yolov8-300x84.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/banner-yolov8-768x216.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/banner-yolov8-1536x432.png 1536w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/banner-yolov8-1024x288.png 1024w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/banner-yolov8.png 1920w\" sizes=\"(max-width: 1030px) 100vw, 1030px\" \/><figcaption>Source: https:\/\/github.com\/ultralytics\/ultralytics<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">YOLOv8 Models Types<\/h2>\n\n\n\n<p>YOLOv8 has different model types based on the number of parameters that will relate to the accuracy of the model. So, the bigger the model, the more accurate it is. For example, YOLOv8x is the biggest model and it has the highest accuracy out of all the models.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img decoding=\"async\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/1680071740298.png\" alt=\"\" class=\"wp-image-77278\" width=\"724\" height=\"334\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/1680071740298.png 894w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/1680071740298-300x139.png 300w\" sizes=\"(max-width: 724px) 100vw, 724px\" \/><figcaption>Source: https:\/\/github.com\/ultralytics\/ultralytics<\/figcaption><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Why Do We Need to Benchmark Performance?<\/h2>\n\n\n\n<p>By running performance benchmarks, you can know how much of an inference performance you can obtain for a particular model type running on a particular device. This is more important for embedded devices such as the NVIDIA Jetson platform because if you know the exact model type you want to use for your application, you can decide which hardware will be suitable to run that model.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Why Do We Need TensorRT Benchmarks?<\/h2>\n\n\n\n<p><a href=\"https:\/\/developer.nvidia.com\/tensorrt\" target=\"_blank\" rel=\"noreferrer noopener\">TensorRT<\/a> is a library developed by NVIDIA to make inference faster on NVIDIA GPUs. TensorRT is built on CUDA and it can give more than 2 to 3 times faster inference on many real-time services and embedded applications when compared with running native models such as PyTorch and ONNX without TensorRT.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Install YOLOV8 on Nvidia Jetson Devices<\/h2>\n\n\n\n<p><strong>Step 1:<\/strong> Flash the Jetson device with JetPack as explained in <a href=\"https:\/\/wiki.seeedstudio.com\/YOLOv8-DeepStream-TRT-Jetson#flash-jetpack-to-jetson\" target=\"_blank\" rel=\"noreferrer noopener\">this wiki<\/a>. <\/p>\n\n\n\n<p><strong>Step 2:<\/strong> Follow the sections <strong>&#8220;Install Necessary Packages&#8221;<\/strong> and <strong>&#8220;Install PyTorch and Torchvision&#8221;<\/strong> of the above wiki to install YOLOv8 on the Jetson device<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">How to Run the Benchmarks?<\/h2>\n\n\n\n<p>When you install <a href=\"https:\/\/developer.nvidia.com\/embedded\/jetpack\" target=\"_blank\" rel=\"noreferrer noopener\">NVIDIA JetPack<\/a> with SDK components on an NVIDIA Jetson device, there will be a tool called <a href=\"https:\/\/docs.nvidia.com\/deeplearning\/tensorrt\/developer-guide\/index.html#trtexec\" target=\"_blank\" rel=\"noreferrer noopener\">trtexec<\/a>. This tool is actually located inside TensorRT which comes with SDK components installation. This is a tool to use TensorRT without having to develop your own application. The trtexec tool has three main purposes<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Benchmarking networks on random or user-provided input data.<\/li><li>Generating serialized engines from models.<\/li><li>Generating a serialized timing cache from the builder.<\/li><\/ul>\n\n\n\n<p>Here we can use trtexec tool to quickly benchmark the models with different parameters. But first of all, you need to have an ONNX model and we can generate this ONNX model by using Ultralytics YOLOv8.<\/p>\n\n\n\n<p><strong>Step 1: <\/strong>Build ONNX model using:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>yolo mode=export model=yolov8s.pt format=onnx<\/code><\/pre>\n\n\n\n<p>This will download the latest <strong>yolov8s.pt<\/strong> model and convert to ONNX format<\/p>\n\n\n\n<p><strong>Step 2<\/strong>: Build engine file using trtexec as follows:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cd \/usr\/src\/tensorrt\/bin\n.\/trtexec --onnx=&lt;path_to_onnx_file&gt; --saveEngine=&lt;path_to_save_engine_file&gt;<\/code><\/pre>\n\n\n\n<p>For example:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>.\/trtexec --onnx=\/home\/nvidia\/yolov8s.onnx -- saveEngine=\/home\/nvidia\/yolov8s.engine<\/code><\/pre>\n\n\n\n<p>This will output performance results as follows along with a generated <strong>.engine<\/strong> file. By default, it will convert ONNX to an TensorRT-optimized file in <strong>FP32<\/strong> precision and you can see the output as follows<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" width=\"1030\" height=\"361\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/3-1030x361.png\" alt=\"\" class=\"wp-image-77324\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/3-1030x361.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/3-300x105.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/3-768x269.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/3-1536x538.png 1536w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/3-2048x717.png 2048w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/3-1024x359.png 1024w\" sizes=\"(max-width: 1030px) 100vw, 1030px\" \/><\/figure>\n\n\n\n<p>Here we can take the mean latency as 7.2ms which translates to 139FPS.<\/p>\n\n\n\n<p>However, if you want&nbsp;<strong>INT8<\/strong>&nbsp;precision which offers better performance, you can execute the above command as follows<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>.\/trtexec --onnx=\/home\/nvidia\/yolov8s.onnx --saveEngine=\/home\/nvidia\/yolov8s.engine --int8<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1030\" height=\"337\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/4-1030x337.png\" alt=\"\" class=\"wp-image-77326\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/4-1030x337.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/4-300x98.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/4-768x251.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/4-1536x502.png 1536w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/4-2048x669.png 2048w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/4-1024x335.png 1024w\" sizes=\"(max-width: 1030px) 100vw, 1030px\" \/><\/figure>\n\n\n\n<p>Here we can take the mean latency as 3.2ms which translates to 313FPS. <\/p>\n\n\n\n<p>If you also want to run in <strong>FP16 <\/strong>precision, you can execute the command as follows:<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>.\/trtexec --onnx=\/home\/nvidia\/yolov8s.onnx --saveEngine=\/home\/nvidia\/yolov8s.engine --fp16<\/code><\/pre>\n\n\n\n<p>To check the performance on the default PyTorch version of the YOLOv8 models, you can simply run inference and check the latency as follows<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>yolo detect predict model=yolov8s.pt source='&lt;&gt;' <\/code><\/pre>\n\n\n\n<p>Here you can change the source according to the table illustrated on <a href=\"https:\/\/docs.ultralytics.com\/modes\/predict\/\" target=\"_blank\" rel=\"noreferrer noopener\">this page<\/a>.<\/p>\n\n\n\n<p>Also, if you do not specify a source, it will use an image named &#8220;bus.jpg&#8221; by default.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Benchmark Results<\/h2>\n\n\n\n<p>Before moving on to the benchmark results, I will quickly highlight the AI performance of each device we used for the benchmarking process.<\/p>\n\n\n\n<style type=\"text\/css\">\n.tg  {border-collapse:collapse;border-spacing:0;}\n.tg td{border-color:black;border-style:solid;border-width:1px;font-family:Arial, sans-serif;font-size:14px;\n  overflow:hidden;padding:10px 5px;word-break:normal;}\n.tg th{border-color:black;border-style:solid;border-width:1px;font-family:Arial, sans-serif;font-size:14px;\n  font-weight:normal;overflow:hidden;padding:10px 5px;word-break:normal;}\n.tg .tg-0pky{border-color:inherit;text-align:left;vertical-align:top}\n<\/style>\n<table class=\"tg\">\n<thead>\n  <tr>\n    <th class=\"tg-0pky\">Jetson Device<\/th>\n    <th class=\"tg-0pky\"><a href=\"https:\/\/www.seeedstudio.com\/AGX-Orin-32GB-H01-Kit-p-5569.html\" target=\"_blank\" rel=\"noopener noreferrer\">AGX Orin 32GB H01 Kit<\/a><\/th>\n    <th class=\"tg-0pky\"><a href=\"https:\/\/www.seeedstudio.com\/reComputer-J4012-p-5586.html\" target=\"_blank\" rel=\"noopener noreferrer\">reComputer J4012 built with Orin NX 16GB<\/a><\/th>\n    <th class=\"tg-0pky\"><a href=\"https:\/\/www.seeedstudio.com\/reComputer-J2021-p-5438.html\" target=\"_blank\" rel=\"noopener noreferrer\">reComputer J2021 built with Xavier NX 8GB<\/a><\/th>\n  <\/tr>\n<\/thead>\n<tbody>\n  <tr>\n    <td class=\"tg-0pky\">AI Performance<\/td>\n    <td class=\"tg-0pky\">200TOPS<\/td>\n    <td class=\"tg-0pky\">100TOPS<\/td>\n    <td class=\"tg-0pky\">21TOPS<\/td>\n  <\/tr>\n<\/tbody>\n<\/table>\n\n\n\n<p>Now we will look at benchmark graphs to compare the YOLOv8 performance on a single device at a time. I have performed all the benchmarks with the default PyTorch model file in 640&#215;640, converted into ONNX format as explained above.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><a href=\"https:\/\/www.seeedstudio.com\/AGX-Orin-32GB-H01-Kit-p-5569.html\" target=\"_blank\" rel=\"noreferrer noopener\">AGX Orin 32GB H01 Kit<\/a><\/h3>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-22-1030x921.png\" alt=\"\" class=\"wp-image-77343\" width=\"581\" height=\"519\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-22-1030x921.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-22-300x268.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-22-768x687.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-22-1024x916.png 1024w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-22.png 1081w\" sizes=\"(max-width: 581px) 100vw, 581px\" \/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><a href=\"https:\/\/www.seeedstudio.com\/reComputer-J4012-p-5586.html\" target=\"_blank\" rel=\"noreferrer noopener\">reComputer J4012 built with Orin NX 16GB<\/a><\/h3>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-23-1030x758.png\" alt=\"\" class=\"wp-image-77344\" width=\"593\" height=\"436\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-23-1030x758.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-23-300x221.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-23-768x565.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-23-1024x754.png 1024w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-23.png 1316w\" sizes=\"(max-width: 593px) 100vw, 593px\" \/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><a href=\"https:\/\/www.seeedstudio.com\/reComputer-J2021-p-5438.html\" target=\"_blank\" rel=\"noreferrer noopener\">reComputer J2021 built with Xavier NX 8GB<\/a><\/h3>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-24-1030x760.png\" alt=\"\" class=\"wp-image-77345\" width=\"602\" height=\"443\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-24-1030x760.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-24-300x221.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-24-768x566.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-24-1024x755.png 1024w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-24.png 1314w\" sizes=\"(max-width: 602px) 100vw, 602px\" \/><\/figure><\/div>\n\n\n\n<p>As we can see, TensorRT can give a drastic performance jump. <\/p>\n\n\n\n<p>Next, we will look at the benchmark graphs from a different perspective where each YOLOv8 model&#8217;s performance is compared on different devices.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1030\" height=\"611\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-26-1030x611.png\" alt=\"\" class=\"wp-image-77347\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-26-1030x611.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-26-300x178.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-26-768x455.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-26-1536x911.png 1536w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-26-1024x607.png 1024w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-26.png 1597w\" sizes=\"(max-width: 1030px) 100vw, 1030px\" \/><\/figure>\n\n\n\n<p>If we compare the biggest YOLOv8 model which is YOLOv8x running on the above 3 devices, this is what we get<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-27-1030x618.png\" alt=\"\" class=\"wp-image-77348\" width=\"683\" height=\"410\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-27-1030x618.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-27-300x180.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-27-768x461.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-27-1024x614.png 1024w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2023\/03\/image-27.png 1204w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure><\/div>\n\n\n\n<p>As you can see, with INT8 precision on the biggest YOLOv8x model, we can achieve an FPS of about 75 on the AGX Orin 32GB, which is very impressive for an embedded device!<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Conclusion<\/h2>\n\n\n\n<p>According to all the above benchmarks, it seems that the inference performance has dramatically increased over the years on embedded devices such as the NVIDIA Jetson Orin platform and now we are almost on the way to matching server level performance with such compact devices!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>This blog will talk about the performance benchmarks of all the YOLOv8 models running on<\/p>\n","protected":false},"author":141,"featured_media":77347,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_lmt_disableupdate":"","_lmt_disable":"","_price":"","_stock":"","_tribe_ticket_header":"","_tribe_default_ticket_provider":"","_tribe_ticket_capacity":"0","_ticket_start_date":"","_ticket_end_date":"","_tribe_ticket_show_description":"","_tribe_ticket_show_not_going":false,"_tribe_ticket_use_global_stock":"","_tribe_ticket_global_stock_level":"","_global_stock_mode":"","_global_stock_cap":"","_tribe_rsvp_for_event":"","_tribe_ticket_going_count":"","_tribe_ticket_not_going_count":"","_tribe_tickets_list":"[]","_tribe_ticket_has_attendee_info_fields":false,"iawp_total_views":0,"footnotes":""},"categories":[4391,4394,4393],"tags":[4222,3185,4517,4420,4520],"class_list":["post-77276","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-build","category-deploy","category-tech","tag-agx-orin","tag-jetson-xavier-nx","tag-orin-nx","tag-tensorrt","tag-yolov8"],"yoast_head":"<!-- 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