LensVLM-9B on Jetson Orin NX 16GB — Q4_K_M, llama.cpp vision-language inference benchmark

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Model	LensVLM-9B
Parameters	9.4B
Device	Jetson Orin NX 16GB
Quantization	Q4_K_M
Image size	720p
Images per camera	1
Max Cameras (response ≤ 3 s)	>3 s
Engine	llama.cpp

Cameras	Response (s)	TPS (tok/s)	Target
1	7.20	10.3	>3 s
2	8.14	6.1	>3 s
4	30.4	6.4	>3 s
8	70.4	6.3	>3 s

Images per request	Response (s)	TPS (tok/s)	Target
1	7.20	10.3	>3 s
2	14.2	10.2	>3 s
4	28.2	10.0	>3 s
8	56.3	9.7	>3 s
16	113.3	9.4	>3 s
32	230.1	8.4	>3 s

LensVLM-9B (9.4B parameters), served in Q4_K_M format with llama.cpp on Jetson Orin NX 16GB, starts answering a single camera that sends one 720p image after 7.2 s, then writes 10.3 tok/s.

With 32 images per camera at 720p, the answer starts after 230.06 s. With one 2K image, after 56.13 s.

At the default target of an answer starting within 3 s (720p, one image per camera), not even one camera is answered in time.