Nvidia Jetson AGX Xavier vs Raspberry Pi 4 Benchmark

Introduction

NVIDIA Jetson AGX Xavier is an embedded system-on-module (SoM) from the NVIDIA AGX Systems family. The Jetson AGX Xavier module makes AI-powered autonomous machines possible, running in as little as 10W and delivering up to 32 TOPs. It is a computer available now for embedded designers, researchers, and DIY makers, delivering the power of modern AI in a compact, easy-to-use platform with full software programmability. It is a small, powerful computer that lets you run multiple neural networks in parallel for applications like image classification, object detection, segmentation, and speech processing. 

Raspberry Pi 4 Model B is the latest product in the popular Raspberry Pi range of computers. Raspberry Pi 4 was released in June 2019. It offers ground-breaking increases in processor speed, multimedia performance, memory, and connectivity compared to the prior-generation Raspberry Pi 3 Model B+ while retaining backwards compatibility and similar power consumption. For the end-user, Raspberry Pi 4 Model B provides desktop performance comparable to entry-level x86 PC systems.

In this comparison, we will be comparing the Jetson Nano AGX Xavier with the highest spec model of Raspberry Pi 4B.

Platform	CPU	GPU	Memory	Storage	MRP
Jetson AGX Xavier	8x ARM v8.2 @ 2.26GHz	512x Volta GPU @ 64 Tensor Cores	32GB LPDDR4 (137GB/s)	32GB eMMC	$699
Raspberry Pi 4 Model B	4x ARM Cortex A72 @ 1.5GHz	Broadcom VideoCore VI @ 500 MHz	2GB / 4GB / 8GB LPDDR4	Micro SD	$75.00 (8GB RAM)

Jetson AGX Xavier vs Raspberry Pi 4 Model B Specifications

Features	Raspberry Pi 4 B	Jetson AGX Xavier
CPU	Broadcom BCM2711, quad-core Cortex-A72 (ARM v8) 64-bit SoC @ 1.5GHz	NVIDIA Carmel ARMv8.2 (octal-core) @ 2.26GHz(4x2MB L2 + 4MB L3)
GPU	Broadcom VideoCore VI	512-core Volta @ 1377 MHz + 64 Tensor Cores
DL	NA	Dual NVIDIA Deep Learning Accelerators
Memory	2GB, 4GB or 8GB LPDDR4-3200 SDRAM	32GB 256-bit LPDDR4x @ 2133MHz | 137GB/s
Storage	MicroSD card	32GB eMMC 5.1
Vision	OpenGL ES 3.0 Graphics	7-way VLIW Vision Accelerator
Encoder	H.264 (1080p30)	(4x) 4Kp60, (8x) 4Kp30, (32x) 1080p30
Decoder	H.265 (4Kp60) | H.264 (1080p60)	(2x) 8Kp30, (6x) 4Kp60, (12x) 4Kp30
Camera	1× MIPI CSI Connector	16 lanes MIPI CSI-2 | 6.8125Gbps per lane
Display	2× micro-HDMI (4kp60) | 1× MIPI DSI	(3x) eDP 1.4 / DP 1.2 / HDMI 2.0 @ 4Kp60
Wireless	2.4 GHz and 5.0 GHz 802.11ac | Bluetooth 5.0 | BLE	M.2 Key-E site on carrier
Ethernet	Gigabit Ethernet	10/100/1000 BASE-T Ethernet
USB	2x USB 3.0 A | 2x USB 2.0 A	(3x) USB 3.1 + (4x) USB 2.0
PCIe	NA	PCIe Gen 4 x16 | 1×8 + 1×4 + 1×2 + 2×1
CAN	NA	Dual CAN bus controller
Misc IO	UART, SPI, I2C, GPIO	UART, SPI, I2C, I2S, GPIOs
Thermals	0°C – 50°C	-25°C to 80°C
Power	5V / 5-10W	10/15/30W

Price Comparison Jetson AGX Xavier vs Raspberry Pi 4

Port Comparison

Jetson AGX Xavier	Raspberry Pi 4 B
MicroSD Card Slot	MicroSD Card Slot
40-pin GPIO Expansion Header	40-pin GPIO Expansion Header
USB C	USB C
Gigabit Ethernet Port	Gigabit Ethernet Port
(3x) USB 3.1 + (4x) USB 2.0	2x USB 3.0 A | 2x USB 2.0 A
HDMI 2.0	2x Micro HDMI
DC Barrel Jack Power Input	NA
16x MIPI CSI-2	1x MIPI CSI
NA	1x MIPI DSI

GPIO PinOut AGX Xavier

Connector Label	Pin	Pin	Connector Label
3.3 VDC	1	2	5.0 VDC
I2C_GP5_DAT	3	4	5.0 VDC
I2C_GP5_CLK	5	6	GND
MCLK05	7	8	UART1_TX
GND	9	10	UART1_RX
UART1_RTS	11	12	I2S2_CLK
PWM01	13	14	GND
GPIO27_PWM2	15	16	GPIO8
3.3 VDC	17	18	GPIO35_PWM3
SPI1_MOSI	19	20	GND
SPI1_MISO	21	22	GPIO17
SPI1_SCLK	23	24	SPI1_CS0
GND	25	26	SPI1_CS1
I2C_GP2_DAT	27	28	I2C_GP2_CLK
CAN0_DIN	29	30	GND
CAN0_DOUT	31	32	GPIO9_CAN1
CAN1_DOUT	33	34	GND
I2S_FS	35	36	UART1_CTS
CAN1_DIN	37	38	I2S_SDIN
GND	39	40	I2S_SDOUT
Connector Label	Pin	Pin	Connector Label

GPIO PinOut Raspberry Pi 4

Connector Label	Pin	Pin	Connector Label
3.3 VDC	1	2	5.0 VDC
I2C_2_SDA	3	4	5.0 VDC
I2C_2_SCL	5	6	GND
AUDIO_MCLK	7	8	UART_2_TX
GND	9	10	UART_2_RX
UART_2_RTS	11	12	I2S_4_SCLK
SPI_2_SCK	13	14	GND
LCD_TE	15	16	SPI_2_CS1
3.3 VDC	17	18	SPI_2_CS0
SPI_1_MOSI	19	20	GND
SPI_1_MISO	21	22	SPI_2_MISO
SPI_1_SCK	23	24	SPI_1_CS0
GND	25	26	SPI_1_CS1
I2C_1_SDA	27	28	I2C_1_SCL
CAM_AF_EN	29	30	GND
GPIO_PZ0	31	32	LCD_BL_PWM
GPIO_PE6	33	34	GND
I2S_4_LRCK	35	36	UART_2_CTS
SPI_2_MOSI	37	38	I2S_4_SDIN
GND	39	40	I2S_4_SDOUT
Connector Label	Pin	Pin	Connector Label

Phoronix Test Suite :

So I started with some of the standard tests of the Phoronix Test Suite. You can also run the same test by executing the below commands.

sudo apt-get install -y php-cli php-xml

# Download PTS  https://www.phoronix-test-suite.com/ and  Install

phoronix-test-suite benchmark 1809111-RA-ARMLINUX005

# Accept for Dependency Installation and Wait a few hours, Test Result is available at : 

~/.phoronix-test-suite/test-results/

Test	Raspberry Pi 4 8GB	AGX Xavier	Notes
Tinymembench (memcpy)	2526.8	6103.9	MB/s, More Is Better
TTSIOD 3D Renderer	32.3075	73.29	FPS, More Is Better
7-Zip Compression	3701	10219	MIPS, More Is Better
C-Ray	609.431	328.39	Seconds, Lower Is Better
Primesieve	519.238	158.96	Seconds, Lower Is Better
AOBench	125.643	161.61	Seconds, Lower Is Better
FLAC Audio Encoding	85.805	90	Seconds, Lower Is Better
LAME MP3 Encoding	124.952	60.99	Seconds, Lower Is Better
Perl (Pod2html)	0.58082	0.5707	Seconds, Lower Is Better
Redis (GET)	491168.39	680922	Seconds, Lower Is Better
PyBench	5673	6359	Milliseconds, Lower Is Better