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Model nameShape*NN Latency**NN FPS
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MobileOne S0224x22411.09 ± 0.01 ms165.45 ± 0.22 FPS
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Resnet18224x22419.71 ± 0.01 ms94.78 ± 0.25 FPS
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DeepLab V3256 x 25648.12 ± 0.03 ms36.53 ± 0.64 FPS
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DeepLab V3513 x 513253.12 ± 0.04 ms6.32 ± 0.09 FPS
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YOLOv6n R2416x41629.28 ± 0.02 ms65.51 ± 0.06 FPS
*Reported latency or lower (latency includes download of output over USB3), model tested on 8 shaves and 1 network inference thread over 5 iterations
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YOLOv6n R2640x64066.42 ± 0.03 ms29.30 ± 0.16 FPS
**Reported FPS, model tested on 8 shaves and 2 network inference threads over 5 iterations
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YOLOv6t R2416x41654.09 ± 0.05 ms35.78 ± 0.06 FPS
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YOLOv6t R2640x640133.60 ± 0.06ms14.16 ± 0.04 FPS
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YOLOv6s R2416x41689.95 ± 0.02 ms20.63 ± 0.28 FPS
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YOLOv6s R2640x640247.18 ± 0.07 ms6.69 ± 0.01 FPS
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YOLOv6m R2416x416190.24 ± 0.07 ms8.57 ± 0.03 FPS
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YOLOv6m R2640x640487.37 ± 0.10 ms3.40 ± 0.00 FPS
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YOLOv6l R2416x416450.06 ± 0.05 ms3.58 ± 0.15 FPS
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YOLOv6l R2640x6401090.63 ± 0.12 ms1.45 ± 0.00 FPS
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YOLOv6n R2.1416x41629.27 ± 0.02 ms65.82 ± 0.27 FPS
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YOLOv6n R2.1640x64066.40 ± 0.01 ms29.25 ± 0.08 FPS
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YOLOv6s R2.1416x41668.62 ± 0.01 ms27.51 ± 0.07 FPS
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YOLOv6s R2.1640x640177.50 ± 0.02 ms9.54 ± 0.21 FPS
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YOLOv6m R2.1416x416164.47 ± 0.04 ms10.25 ± 0.06 FPS
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YOLOv6m R2.1640x640418.89 ± 0.11 ms4.19 ± 0.03 FPS
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YOLOv6l R2.1416x416340.72 ± 0.06 ms4.67 ± 0.30 FPS
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YOLOv6l R2.1640x640867.46 ± 0.11 ms1.78 ± 0.07 FPS
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YOLOv6n R3416x41637.76 ± 0.03 ms50.45 ± 0.04 FPS
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YOLOv6n R3640x64082.05 ± 0.01 ms23.43 ± 0.04 FPS
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YOLOv6s R3416x41696.00 ± 0.01 ms19.50 ± 0.02 FPS
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YOLOv6s R3640x640259.71 ± 0.12 ms6.51 ± 0.01 FPS
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YOLOv6m R3416x416201.36 ± 0.04 ms7.82 ± 0.04 FPS
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YOLOv6m R3640x640508.29 ± 0.03 ms3.27 ± 0.00 FPS
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YOLOv6l R3416x416475.65 ± 0.06 ms3.31 ± 0.09 FPS
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YOLOv6l R3640x6401141.58 ± 0.05 ms1.38 ± 0.00 FPS
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YOLOv6n R4416x41631.01 ± 0.02 ms62.17 ± 0.14 FPSOpenVino 2022
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YOLOv6s R4416x41690.34 ± 0.02 ms20.94 ± 0.10 FPSOpenVino 2022
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YOLOv6m R4416x416206.45 ± 0.06 ms7.33 ± 0.05 FPSOpenVino 2022
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YOLOv6l R4416x416479.60 ± 0.02 ms3.28 ± 0.06 FPSOpenVino 2022
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YOLOv7t416x41637.55 ± 0.06 ms46.68 ± 0.48 FPS
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YOLOv7t640x64097.03 ± 0.18 ms17.80 ± 0.61 FPS
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YOLOv7416x416410.03 ± 0.16 ms3.61 ± 0.01 FPS
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YOLOv7640x6401009.25 ± 0.14 ms1.43 ± 0.00 FPS
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YOLOv7x416x416749.29 ± 0.10 ms2.20 ± 0.00 FPS
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YOLOv7x640x6401749.53 ± 0.13 ms0.57 ± 0.00 FPS
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YOLOv8n416x41656.94 ± 0.02 ms31.30 ± 0.16 FPS
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YOLOv8n640x640123.60 ± 0.03 ms14.28 ± 0.04 FPS
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YOLOv8s416x416111.87 ± 0.03 ms15.17 ± 0.17 FPS
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YOLOv8s640x640280.10 ± 0.04 ms5.81 ± 0.07 FPS
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YOLOv8m416x416273.77 ± 0.05 ms5.97 ± 0.02 FPS
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YOLOv8m640x640636.13 ± 0.03 ms2.71 ± 0.01 FPS
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YOLOv8l416x416601.94 ± 0.08 ms2.67 ± 0.02 FPS
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YOLOv8l640x6401169.15 ± 0.06 ms1.28 ± 0.00 FPS
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YOLOv8x416x416790.16 ± 0.06 ms2.11 ± 0.00 FPS
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YOLOv8x640x6402097.45 ± 0.17 ms0.68 ± 0.00 FPS
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YOLOv9t416x41646.09 ± 0.08 ms21.70 ± 0.04 FPS
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YOLOv9t640x64093.60 ± 1.40 ms10.69 ± 0.16 FPS
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YOLOv9s416x41678.49 ± 0.30 ms12.74 ± 0.05 FPS
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YOLOv9s640x640179.31 ± 0.71 ms5.58 ± 0.02 FPS
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YOLOv9m416x416212.31 ± 0.39 ms4.71 ± 0.01 FPS
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YOLOv9m640x640393.13 ± 0.54 ms2.54 ± 0.00 FPS
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YOLOv9c416x416259.44 ± 0.85 ms3.85 ± 0.01 FPS
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YOLOv9c640x640553.39 ± 5.78 ms1.81 ± 0.02 FPS
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YOLOv10n416x416 36.95 ± 0.28 ms27.07 ± 0.20 FPS
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YOLOv10n640x64079.21 ± 0.24 ms12.62 ± 0.04 FPS
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YOLOv10s416x41671.29 ± 0.19 ms14.03 ± 0.04 FPS
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YOLOv10s640x640 159.72 ± 0.26 ms6.26 ± 0.01 FPS
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YOLOv10m416x416 165.26 ± 0.71 ms6.05 ± 0.03 FPS
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YOLOv10m640x640 350.23 ± 0.30 ms2.86 ± 0.00 FPS
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YOLOv10b416x416 244.92 ± 0.70 ms4.08 ± 0.01 FPS
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YOLOv10b640x640 511.49 ± 0.87 ms1.96 ± 0.00 FPS
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YOLOv10l416x416313.59 ± 0.26 ms3.19 ± 0.00 FPS
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YOLOv10l640x640644.12 ± 0.77 ms1.55 ± 0.00 FPS
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YOLOv10x416x416 500.72 ± 0.67 ms2.00 ± 0.00 FPS
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YOLOv10x640x640 1008.96 ± 43.68 ms0.99 ± 0.04 FPS
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YOLO11n416x416 35.61 ± 0.10 ms28.08 ± 0.08 FPS
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YOLO11n640x64078.11 ± 0.34 ms12.80 ± 0.06 FPS
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YOLO11s416x41682.14 ± 0.12 ms12.17 ± 0.02 FPS
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YOLO11s640x640179.27 ± 0.37 ms5.58.± 0.01 FPS
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YOLO11m416x416 256.20 ± 0.30 ms3.90 ± 0.00 FPS
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YOLO11m640x640 428.97 ± 1.79 ms2.33 ± 0.01 FPS
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YOLO11l416x416310.84 ± 17.83 ms3.23 ± 0.19 FPS
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YOLO11l640x640539.69 ± 0.14 ms1.85 ± 0.00 FPS
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YOLO11x416x416545.43 ± 0.17 ms1.83 ± 0.00 FPS
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YOLO11x640x640 1252.29 ± 48.61 ms0.80 ± 0.03 FPS
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ResNet-50224 x 22456.47 ± 0.05 ms26.44 ± 0.10 FPS
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