Performance Summary

The performance results of benchmarking the Isaac ROS packages on both Jetson and x86_64 platforms are below:

Node	Input Size	AGX Thor	x86_64 w/ RTX 5090
AprilTag Node	720p	392 fps 10 ms @ 30Hz	596 fps 2.3 ms @ 30Hz
FoundationPose Pose Estimation Node	720p	3.92 fps 260 ms @ 30Hz	10.1 fps 89 ms @ 30Hz
DNN Stereo Disparity Node Full	576p	178 fps 22 ms @ 30Hz	350 fps 5.6 ms @ 30Hz
DNN Stereo Disparity Node Light	288p	350 fps 9.4 ms @ 30Hz	350 fps 5.0 ms @ 30Hz
Stereo Disparity Node	1080p	217 fps 51 ms @ 30Hz	863 fps 4.1 ms @ 30Hz
Rectify Node	1080p	1800 fps 3.4 ms @ 30Hz	2500 fps 2.8 ms @ 30Hz
TensorRT Node DOPE	VGA	180 fps 7.1 ms @ 30Hz	321 fps 5.2 ms @ 30Hz
Triton Node DOPE	VGA	164 fps 32 ms @ 30Hz	281 fps 4.5 ms @ 30Hz
TensorRT Node PeopleSemSegNet	544p	589 fps 7.6 ms @ 30Hz	557 fps 3.1 ms @ 30Hz
Triton Node PeopleSemSegNet	544p	365 fps 9.6 ms @ 30Hz	475 fps 5.1 ms @ 30Hz
DNN Image Encoder Node	VGA	416 fps 13 ms @ 30Hz	446 fps 9.4 ms @ 30Hz
Occupancy Grid Localizer Node	~50 sq. m	28.3 fps 58 ms @ 30Hz	50.1 fps 12 ms @ 30Hz
H.264 Decoder Node	1080p	596 fps 10 ms @ 30Hz	596 fps 4.0 ms @ 30Hz
H.264 Encoder Node I-frame Support	1080p	390 fps 11 ms @ 30Hz	596 fps 3.9 ms @ 30Hz
H.264 Encoder Node P-frame Support	1080p	429 fps 8.6 ms @ 30Hz	596 fps 4.4 ms @ 30Hz
Nvblox Node	–	4.94 fps 89.8 ms	4.96 fps 23.1 ms

Graph	Input Size	AGX Thor	x86_64 w/ RTX 5090
AprilTag Graph	720p	366 fps 13 ms @ 30Hz	596 fps 4.1 ms @ 30Hz
Centerpose Pose Estimation Graph	VGA	50.5 fps 50 ms @ 30Hz	50.2 fps 16 ms @ 30Hz
DOPE Pose Estimation Graph	VGA	138 fps 24 ms @ 30Hz	199 fps 14 ms @ 30Hz
DNN Stereo Disparity Graph Full	576p	73.6 fps 29 ms @ 30Hz	348 fps 8.5 ms @ 30Hz
DNN Stereo Disparity Graph Light	288p	219 fps 17 ms @ 30Hz	350 fps 7.3 ms @ 30Hz
Stereo Disparity Graph	1080p	223 fps 5.6 ms @ 30Hz	634 fps 6.6 ms @ 30Hz
DetectNet Object Detection Graph	544p	143 fps 27 ms @ 30Hz	242 fps 17 ms @ 30Hz
Grounding DINO Object Detection Graph	544p	22.9 fps 70 ms @ 30Hz	144 fps 15 ms @ 30Hz
RT-DETR Object Detection Graph SyntheticaDETR	720p	219 fps 23 ms @ 30Hz	457 fps 8.0 ms @ 30Hz
TensorRT Graph PeopleSemSegNet	544p	460 fps 15 ms @ 30Hz	510 fps 12 ms @ 30Hz
SAM Image Segmentation Graph Full SAM	720p	2.23 fps 270 ms @ 30Hz	20.8 fps 58 ms @ 30Hz
SAM Image Segmentation Graph Mobile SAM	720p	21.0 fps 580 ms @ 30Hz	74.1 fps 26 ms @ 30Hz

Methodology

The performance numbers provided above are measured using Isaac ROS Benchmark. Configuration files for reproducing results are provided in the launch scripts for each benchmark here.

Frames per second (fps) are measured using the maximum sustained framerate for the accelerated computational pipeline on each listed platforms. Performance measured includes input node → graph of nodes under performance test → output node where the publishing rate of the input node is auto-tuned to discover the peak throughput dropping <5% of the frames. Average fps computed over 5 runs, discarding minimum and maximum runs; latency measured at 30hz publishing rate matching sensor capture rate.