INFERENCE SPEED ON ORIN (68.5MS)

[mx2013713828]

非常感谢你的工作。
我在orin上使用nuscenes-example推理，FP16+INT8，一帧大约耗时68.5ms，希望可以对想在orin上部署的同学提供参考。

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[SodaKy0401]

非常感谢你的工作。 我在orin上使用nuscenes-example推理，FP16+INT8，一帧大约耗时68.5ms，希望可以对想在orin上部署的同学提供参考。

Awesome，请问你实现了实时推理了嘛？

[AlphaPlusTT]

Thanks for the benchmark! Funny enough, your AGX Orin 64G is actually running faster than ours with the same setup — that’s a win.
When we did deployment tests, we found that bilinear interpolation in the 2D-to-3D projection was a bit overkill. Nearest neighbor gave almost the same mIoU but sped things up a lot (71.88 ms → 61.59 ms, with 53.86 mIoU → 53.7 mIoU).

# bilinear
==================DAOcc==================
[⏰ [NoSt] CopyLidar]: 	0.17226 ms
[⏰ [NoSt] ImageNrom]: 	3.56525 ms
[⏰ Lidar Backbone]: 	8.32141 ms
[⏰ Camera Backbone]: 	27.61523 ms
[⏰ Transfusion]: 	19.38474 ms
[⏰ Head Occ]: 	5.57894 ms
[⏰ Head Object]: 	11.60752 ms
Total: 72.508 ms
=========================================
==================DAOcc==================
[⏰ [NoSt] CopyLidar]: 	0.18262 ms
[⏰ [NoSt] ImageNrom]: 	3.61402 ms
[⏰ Lidar Backbone]: 	7.59018 ms
[⏰ Camera Backbone]: 	27.09418 ms
[⏰ Transfusion]: 	19.81920 ms
[⏰ Head Occ]: 	5.63760 ms
[⏰ Head Object]: 	11.71818 ms
Total: 71.859 ms
=========================================
==================DAOcc==================
[⏰ [NoSt] CopyLidar]: 	0.22141 ms
[⏰ [NoSt] ImageNrom]: 	3.55990 ms
[⏰ Lidar Backbone]: 	7.20250 ms
[⏰ Camera Backbone]: 	26.13069 ms
[⏰ Transfusion]: 	19.90550 ms
[⏰ Head Occ]: 	5.71997 ms
[⏰ Head Object]: 	12.51302 ms
Total: 71.472 ms
=========================================

# nearest
==================DAOcc==================
[⏰ [NoSt] CopyLidar]: 	0.17891 ms
[⏰ [NoSt] ImageNrom]: 	4.08906 ms
[⏰ Lidar Backbone]: 	10.36541 ms
[⏰ Camera Backbone]: 	14.74195 ms
[⏰ Transfusion]: 	20.52842 ms
[⏰ Head Occ]: 	9.02054 ms
[⏰ Head Object]: 	9.09978 ms
Total: 63.756 ms
=========================================
==================DAOcc==================
[⏰ [NoSt] CopyLidar]: 	0.17994 ms
[⏰ [NoSt] ImageNrom]: 	5.17568 ms
[⏰ Lidar Backbone]: 	7.10781 ms
[⏰ Camera Backbone]: 	11.82342 ms
[⏰ Transfusion]: 	20.92579 ms
[⏰ Head Occ]: 	9.44794 ms
[⏰ Head Object]: 	13.53565 ms
Total: 62.841 ms
=========================================
==================DAOcc==================
[⏰ [NoSt] CopyLidar]: 	0.17101 ms
[⏰ [NoSt] ImageNrom]: 	3.28781 ms
[⏰ Lidar Backbone]: 	7.08550 ms
[⏰ Camera Backbone]: 	11.78211 ms
[⏰ Transfusion]: 	20.44186 ms
[⏰ Head Occ]: 	9.33286 ms
[⏰ Head Object]: 	13.51130 ms
Total: 62.154 ms
=========================================