Depth Anything 3 - Jetson Orin NX Benchmarks
February 5, 2026 ยท View on GitHub
Performance benchmarks for Depth Anything 3 (DA3) models running on NVIDIA Jetson Orin NX 16GB with TensorRT 10.3 optimization.
Test Date: February 2, 2026 Hardware: Jetson Orin NX 16GB (Seeed reComputer J4012), JetPack 6.2 TensorRT Version: 10.3 Precision: FP16
Executive Summary
| Configuration | FPS | Latency | Use Case |
|---|---|---|---|
| DA3-Small @ 256x256 | 110 FPS | 9.1ms | High-speed robotics |
| DA3-Small @ 308x308 | 93 FPS | 10.9ms | Real-time robotics (recommended) |
| DA3-Small @ 400x400 | 64 FPS | 15.8ms | Balanced quality/speed |
| DA3-Small @ 518x518 | 40 FPS | 25.0ms | Higher quality |
| DA3-Base @ 518x518 | 19 FPS | 51.4ms | Quality-focused |
| DA3-Large @ 518x518 | 7.5 FPS | 132ms | Offline processing |
Recommendation: For real-time robotics applications, use DA3-Small at 308x308 or 400x400 resolution for optimal speed/quality balance.
Resolution Benchmarks (DA3-Small)
Testing DA3-Small model at different input resolutions to find the optimal speed/quality tradeoff.
| Resolution | Throughput (FPS) | Latency (mean) | Latency (p99) | Engine Size |
|---|---|---|---|---|
| 518x518 | 40.09 | 25.0ms | 25.6ms | 64MB |
| 400x400 | 63.58 | 15.8ms | 16.4ms | 60MB |
| 308x308 | 92.58 | 10.9ms | 11.1ms | 60MB |
| 256x256 | 110.20 | 9.1ms | 9.3ms | 56MB |
Resolution Scaling Analysis
- 2x speedup: Reducing from 518 to 400 yields 1.6x faster inference
- 2.3x speedup: 308x308 provides 2.3x improvement over native resolution
- 2.7x speedup: 256x256 achieves maximum throughput at 110 FPS
Quality Considerations
Lower resolutions reduce depth map detail but maintain relative depth accuracy. For navigation and obstacle avoidance, 308x308 provides sufficient spatial resolution while enabling real-time performance.
Model Size Benchmarks (518x518)
Comparing DA3 model variants at native 518x518 resolution.
| Model | Parameters | Throughput (FPS) | Latency (mean) | Latency (p99) | Engine Size |
|---|---|---|---|---|---|
| DA3-Small | ~24M | 40.05 | 25.0ms | 25.6ms | 64MB |
| DA3-Base | ~97M | 19.24 | 51.4ms | 52.8ms | 211MB |
| DA3-Large | ~335M | 7.51 | 132.2ms | 134.2ms | 674MB |
Model Scaling Analysis
- Small to Base: 4x more parameters, 2x slower (19 vs 40 FPS)
- Base to Large: 3.5x more parameters, 2.6x slower (7.5 vs 19 FPS)
- Small to Large: 14x more parameters, 5.3x slower (7.5 vs 40 FPS)
Quality vs Speed Tradeoff
| Model | Relative Quality | Relative Speed | Best For |
|---|---|---|---|
| Small | Good | Fastest | Real-time robotics, embedded |
| Base | Better | Moderate | Quality-sensitive applications |
| Large | Best | Slowest | Offline processing, benchmarking |
Memory Usage
GPU Memory (Estimated)
| Model | Resolution | GPU Memory |
|---|---|---|
| DA3-Small | 518x518 | ~1.2GB |
| DA3-Small | 308x308 | ~0.8GB |
| DA3-Base | 518x518 | ~2.5GB |
| DA3-Large | 518x518 | ~6GB |
Disk Space (TRT Engines)
| Configuration | Engine Size |
|---|---|
| DA3-Small (all resolutions) | ~240MB total |
| DA3-Base (518x518) | 211MB |
| DA3-Large (518x518) | 674MB |
Deployment Recommendations
Real-Time Robotics (30+ FPS required)
Recommended: DA3-Small @ 308x308 or 400x400
- 308x308: 93 FPS with 11ms latency
- 400x400: 64 FPS with 16ms latency
- Both leave headroom for other processing
Quality-Focused Applications (15+ FPS acceptable)
Recommended: DA3-Small @ 518x518 or DA3-Base @ 518x518
- Small: 40 FPS, good quality
- Base: 19 FPS, better quality for detailed scenes
Offline/Batch Processing
Recommended: DA3-Large @ 518x518
- 7.5 FPS suitable for non-real-time applications
- Best depth quality for dataset generation
Test Methodology
Hardware Configuration
- Device: NVIDIA Jetson Orin NX 16GB
- JetPack: 6.2
- Power Mode: MAXN (15W)
- Cooling: Active fan cooling
Benchmark Parameters
- Tool: trtexec (TensorRT benchmark utility)
- Iterations: 100 inference passes
- Warmup: 2000ms
- Precision: FP16
Engine Build Settings
trtexec \
--onnx=model.onnx \
--saveEngine=model.engine \
--fp16 \
--memPoolSize=workspace:2048MiB \
--optShapes=pixel_values:1x1x3xHxW
Reproducing Benchmarks
Prerequisites
- Jetson Orin NX with JetPack 6.2+
- TensorRT 10.3
- This repository deployed via
deploy_jetson.sh
Running Resolution Benchmarks
cd ~/depth_anything_3_ros2
bash scripts/benchmark_resolutions.sh
Running Model Size Benchmarks
cd ~/depth_anything_3_ros2
bash scripts/benchmark_models.sh
Version History
| Date | Changes |
|---|---|
| 2026-02-02 | Initial benchmarks on Jetson Orin NX 16GB |
| 2026-02-02 | Added thermal/stability validation (10-min sustained load test) |
Thermal/Stability Validation
10-Minute Sustained Load Test
Test performed with DA3-Small @ 518x518 under continuous inference load.
| Metric | Value |
|---|---|
| Duration | 600.06 seconds |
| Status | PASSED |
| Throughput | 40.79 FPS |
| Latency (mean) | 24.73ms |
| Latency (min) | 24.25ms |
| Latency (max) | 27.88ms |
| Latency (p99) | 25.19ms |
Stability Analysis
- FPS Stability: Maintained consistent 40.79 FPS throughout 10-minute test
- Latency Variance: Only 3.63ms spread (min to max) indicating stable thermals
- Thermal Throttling: None detected (performance remained constant)
- p99 Latency: 25.19ms ensures predictable real-time behavior
Conclusions
The Jetson Orin NX 16GB demonstrates excellent thermal stability for sustained DA3 inference workloads. No performance degradation was observed over the 10-minute test period, making it suitable for continuous robotics applications.