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OAK相机跑各种yolo模型的检测帧率和深度帧率

OAK相机跑各种yolo模型的检测帧率和深度帧率

鉴于我们社群中有不少朋友在将YOLO模型部署到OAK相机上,大家对帧率比较关心,所以我们做了一个比较全的测试,仅供大家参考。

选用的模型有yolov5r7、yolov6r3、yolov7、yolov8,分别在320×320、416×416、640×640下的帧率。

测试环境

设备:OAK-D-S2

DepthAI:2.20.2.0

系统:Win10

测试的YOLO模型种类:

结果说明:“/”表示没有此版本,“×”表示运行出问题(没有识别结果或运行一会中断),没填数据的表示没测试。

YOLO检测帧率结果

320×320
416×416
640×640

320x320

yolov5r7

yolov6r3

yolov7

yolov8

yolov3

yolov5

yolov3u

yolov5u

yolov8

Nano / Tiny

37.9 fps

42.5 fps

52.8 fps

37.7 fps

30.2 fps

36.2 fps

35.0 fps

Small

/

22.1 fps

24.1 fps 

/

/

21.4 fps

17.7 fps

Medium

3.4 fps

10.2 fps

9.9 fps

/

 

2.4 fps

9.1 fps

7.2 fps

Large / SPP

3.5 fps

3.5 fps

3.4 fps

3.7 fps

2.4 fps

4.1 fps

3.5 fps

X

/

1.9 fps

/

2.0 fps

/

1.9 fps

1.9 fps

416x416

yolov5r7

yolov6r3

yolov7

yolov8

yolov3

yolov5

yolov3u

yolov5u

yolov8

Nano / Tiny

20.1 fps

29.5 fps

35.6 fps

23.1 fps

18.1 fps

23.8 fps

22.4 fps 

Small

/

14.3 fps

13.1 fps 

/

/

13.0 fps

10.8 fps

Medium

1.8 fps

5.5 fps

4.9 fps

/

 

1.2 fps

5.2 fps

4.2 fps

Large / SPP

1.8fps

2.2 fps

2.2 fps

1.9 fps

1.2 fps

2.1 fps

1.9 fps

X

/

1.3 fps

/

1.3 fps

1.2 fps

1.4 fps

640x640

yolov5r7

yolov6r3

yolov7

yolov8

yolov3

yolov5

yolov3u

yolov5u

yolov8

Nano / Tiny

8.0 fps

16.2 fps

18.6 fps

10.1 fps

6.3 fps

13.3 fps

12.3 fps

Small

/

5.1 fps

4.5 fps

/

/

5.8 fps

4.4 fps

Medium

0.8 fps

2.2 fps

2.1 fps

/

 

0.4 fps

2.0 fps

2.1 fps

Large / SPP

0.8 fps

1.3 fps

1.1 fps

1.1 fps

0.4 fps

1.1 fps

1.2 fps

X

/

0.6 fps

/

0.7 fps

 

/

0.6 fps

0.6 fps

YOLO检测+深度帧率结果

320×320
416×416
640×640

320x320

yolov5r7

yolov6r3

yolov7

yolov8

yolov3

yolov5

yolov3u

yolov5u

yolov8

Nano / Tiny

30.9 fps

35.4 fps

40.6 fps

27.1 fps

27.3 fps

30.6 fps

29.9 fps

Small

/

18.1 fps

21.0 fps

/

/

15.8 fps

11.4 fps

Medium

/

0.4 fps

Large

 

X

/

/

/

416x416

yolov5r7

yolov6r3

yolov7

yolov8

yolov3

yolov5

yolov3u

yolov5u

yolov8

Nano / Tiny

17.5 fps

25.2 fps

27.2 fps

18.1 fps

10.7 fps

18.4 fps

16.3 fps

Small

/

/

/

Medium

/

Large

X

/

/

/

640x640

yolov5r7

yolov6r3

yolov7

yolov8

yolov3

yolov5

yolov3u

yolov5u

yolov8

Nano / Tiny

7.5 fps

10.5 fps

3.2 fps

Small

/

/

/

Medium

/

Large

X

/

/

/

结论

不管是做纯检测,还是检测+深度,最小的Nano/Tiny版本,跑出来帧率是最高的。分辨率越大,帧率越小。加了深度后,帧率也会降低。

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