diff --git a/config.py b/config.py
index e5b4e7b..6a0e315 100644
--- a/config.py
+++ b/config.py
@@ -36,5 +36,20 @@ MASK_COLORS = np.array([(255, 56, 56), (255, 157, 151), (255, 112, 31),
                         (255, 149, 200), (255, 55, 199)],
                        dtype=np.float32) / 255.
 
+KPS_COLORS = [[0, 255, 0], [0, 255, 0], [0, 255, 0], [0, 255, 0], [0, 255, 0],
+              [255, 128, 0], [255, 128, 0], [255, 128, 0], [255, 128, 0],
+              [255, 128, 0], [255, 128, 0], [51, 153, 255], [51, 153, 255],
+              [51, 153, 255], [51, 153, 255], [51, 153, 255], [51, 153, 255]]
+
+SKELETON = [[16, 14], [14, 12], [17, 15], [15, 13], [12, 13], [6, 12], [7, 13],
+            [6, 7], [6, 8], [7, 9], [8, 10], [9, 11], [2, 3], [1, 2], [1, 3],
+            [2, 4], [3, 5], [4, 6], [5, 7]]
+
+LIMB_COLORS = [[51, 153, 255], [51, 153, 255], [51, 153, 255], [51, 153, 255],
+               [255, 51, 255], [255, 51, 255], [255, 51, 255], [255, 128, 0],
+               [255, 128, 0], [255, 128, 0], [255, 128, 0], [255, 128, 0],
+               [0, 255, 0], [0, 255, 0], [0, 255, 0], [0, 255, 0], [0, 255, 0],
+               [0, 255, 0], [0, 255, 0]]
+
 # alpha for segment masks
 ALPHA = 0.5
diff --git a/infer-det-without-torch.py b/infer-det-without-torch.py
index a38eecd..81055ce 100644
--- a/infer-det-without-torch.py
+++ b/infer-det-without-torch.py
@@ -38,6 +38,10 @@ def main(args: argparse.Namespace) -> None:
         data = Engine(tensor)
 
         bboxes, scores, labels = det_postprocess(data)
+        if bboxes.size == 0:
+            # if no bounding box
+            print(f'{image}: no object!')
+            continue
         bboxes -= dwdh
         bboxes /= ratio
 
diff --git a/infer-det.py b/infer-det.py
index 55c50e9..ab9586d 100644
--- a/infer-det.py
+++ b/infer-det.py
@@ -37,6 +37,10 @@ def main(args: argparse.Namespace) -> None:
         data = Engine(tensor)
 
         bboxes, scores, labels = det_postprocess(data)
+        if bboxes.numel() == 0:
+            # if no bounding box
+            print(f'{image}: no object!')
+            continue
         bboxes -= dwdh
         bboxes /= ratio
 
diff --git a/infer-pose-without-torch.py b/infer-pose-without-torch.py
new file mode 100644
index 0000000..7b89a84
--- /dev/null
+++ b/infer-pose-without-torch.py
@@ -0,0 +1,116 @@
+import argparse
+from pathlib import Path
+
+import cv2
+import numpy as np
+
+from config import COLORS, KPS_COLORS, LIMB_COLORS, SKELETON
+from models.utils import blob, letterbox, path_to_list, pose_postprocess
+
+
+def main(args: argparse.Namespace) -> None:
+    if args.method == 'cudart':
+        from models.cudart_api import TRTEngine
+    elif args.method == 'pycuda':
+        from models.pycuda_api import TRTEngine
+    else:
+        raise NotImplementedError
+
+    Engine = TRTEngine(args.engine)
+    H, W = Engine.inp_info[0].shape[-2:]
+
+    images = path_to_list(args.imgs)
+    save_path = Path(args.out_dir)
+
+    if not args.show and not save_path.exists():
+        save_path.mkdir(parents=True, exist_ok=True)
+
+    for image in images:
+        save_image = save_path / image.name
+        bgr = cv2.imread(str(image))
+        draw = bgr.copy()
+        bgr, ratio, dwdh = letterbox(bgr, (W, H))
+        dw, dh = int(dwdh[0]), int(dwdh[1])
+        rgb = cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB)
+        tensor = blob(rgb, return_seg=False)
+        dwdh = np.array(dwdh * 2, dtype=np.float32)
+        tensor = np.ascontiguousarray(tensor)
+        # inference
+        data = Engine(tensor)
+
+        bboxes, scores, kpts = pose_postprocess(data, args.conf_thres,
+                                                args.iou_thres)
+        if bboxes.size == 0:
+            # if no bounding box
+            print(f'{image}: no object!')
+            continue
+        bboxes -= dwdh
+        bboxes /= ratio
+
+        for (bbox, score, kpt) in zip(bboxes, scores, kpts):
+            bbox = bbox.round().astype(np.int32).tolist()
+            color = COLORS['person']
+            cv2.rectangle(draw, bbox[:2], bbox[2:], color, 2)
+            cv2.putText(draw,
+                        f'person:{score:.3f}', (bbox[0], bbox[1] - 2),
+                        cv2.FONT_HERSHEY_SIMPLEX,
+                        0.75, [225, 255, 255],
+                        thickness=2)
+            for i in range(19):
+                if i < 17:
+                    px, py, ps = kpt[i]
+                    if ps > 0.5:
+                        kcolor = KPS_COLORS[i]
+                        px = round(float(px - dw) / ratio)
+                        py = round(float(py - dh) / ratio)
+                        cv2.circle(draw, (px, py), 5, kcolor, -1)
+                xi, yi = SKELETON[i]
+                pos1_s = kpt[xi - 1][2]
+                pos2_s = kpt[yi - 1][2]
+                if pos1_s > 0.5 and pos2_s > 0.5:
+                    limb_color = LIMB_COLORS[i]
+                    pos1_x = round(float(kpt[xi - 1][0] - dw) / ratio)
+                    pos1_y = round(float(kpt[xi - 1][1] - dh) / ratio)
+
+                    pos2_x = round(float(kpt[yi - 1][0] - dw) / ratio)
+                    pos2_y = round(float(kpt[yi - 1][1] - dh) / ratio)
+
+                    cv2.line(draw, (pos1_x, pos1_y), (pos2_x, pos2_y),
+                             limb_color, 2)
+        if args.show:
+            cv2.imshow('result', draw)
+            cv2.waitKey(0)
+        else:
+            cv2.imwrite(str(save_image), draw)
+
+
+def parse_args():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--engine', type=str, help='Engine file')
+    parser.add_argument('--imgs', type=str, help='Images file')
+    parser.add_argument('--show',
+                        action='store_true',
+                        help='Show the detection results')
+    parser.add_argument('--out-dir',
+                        type=str,
+                        default='./output',
+                        help='Path to output file')
+    parser.add_argument('--conf-thres',
+                        type=float,
+                        default=0.25,
+                        help='Confidence threshold')
+    parser.add_argument('--iou-thres',
+                        type=float,
+                        default=0.65,
+                        help='Confidence threshold')
+    parser.add_argument('--method',
+                        type=str,
+                        default='cudart',
+                        help='CUDART pipeline')
+    args = parser.parse_args()
+    return args
+
+
+if __name__ == '__main__':
+    args = parse_args()
+    main(args)
diff --git a/infer-pose.py b/infer-pose.py
new file mode 100644
index 0000000..0ba0679
--- /dev/null
+++ b/infer-pose.py
@@ -0,0 +1,112 @@
+from models import TRTModule  # isort:skip
+import argparse
+from pathlib import Path
+
+import cv2
+import torch
+
+from config import COLORS, KPS_COLORS, LIMB_COLORS, SKELETON
+from models.torch_utils import pose_postprocess
+from models.utils import blob, letterbox, path_to_list
+
+
+def main(args: argparse.Namespace) -> None:
+    device = torch.device(args.device)
+    Engine = TRTModule(args.engine, device)
+    H, W = Engine.inp_info[0].shape[-2:]
+
+    images = path_to_list(args.imgs)
+    save_path = Path(args.out_dir)
+
+    if not args.show and not save_path.exists():
+        save_path.mkdir(parents=True, exist_ok=True)
+
+    for image in images:
+        save_image = save_path / image.name
+        bgr = cv2.imread(str(image))
+        draw = bgr.copy()
+        bgr, ratio, dwdh = letterbox(bgr, (W, H))
+        dw, dh = int(dwdh[0]), int(dwdh[1])
+        rgb = cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB)
+        tensor = blob(rgb, return_seg=False)
+        dwdh = torch.asarray(dwdh * 2, dtype=torch.float32, device=device)
+        tensor = torch.asarray(tensor, device=device)
+        # inference
+        data = Engine(tensor)
+
+        bboxes, scores, kpts = pose_postprocess(data, args.conf_thres,
+                                                args.iou_thres)
+        if bboxes.numel() == 0:
+            # if no bounding box
+            print(f'{image}: no object!')
+            continue
+        bboxes -= dwdh
+        bboxes /= ratio
+
+        for (bbox, score, kpt) in zip(bboxes, scores, kpts):
+            bbox = bbox.round().int().tolist()
+            color = COLORS['person']
+            cv2.rectangle(draw, bbox[:2], bbox[2:], color, 2)
+            cv2.putText(draw,
+                        f'person:{score:.3f}', (bbox[0], bbox[1] - 2),
+                        cv2.FONT_HERSHEY_SIMPLEX,
+                        0.75, [225, 255, 255],
+                        thickness=2)
+            for i in range(19):
+                if i < 17:
+                    px, py, ps = kpt[i]
+                    if ps > 0.5:
+                        kcolor = KPS_COLORS[i]
+                        px = round(float(px - dw) / ratio)
+                        py = round(float(py - dh) / ratio)
+                        cv2.circle(draw, (px, py), 5, kcolor, -1)
+                xi, yi = SKELETON[i]
+                pos1_s = kpt[xi - 1][2]
+                pos2_s = kpt[yi - 1][2]
+                if pos1_s > 0.5 and pos2_s > 0.5:
+                    limb_color = LIMB_COLORS[i]
+                    pos1_x = round(float(kpt[xi - 1][0] - dw) / ratio)
+                    pos1_y = round(float(kpt[xi - 1][1] - dh) / ratio)
+
+                    pos2_x = round(float(kpt[yi - 1][0] - dw) / ratio)
+                    pos2_y = round(float(kpt[yi - 1][1] - dh) / ratio)
+
+                    cv2.line(draw, (pos1_x, pos1_y), (pos2_x, pos2_y),
+                             limb_color, 2)
+        if args.show:
+            cv2.imshow('result', draw)
+            cv2.waitKey(0)
+        else:
+            cv2.imwrite(str(save_image), draw)
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--engine', type=str, help='Engine file')
+    parser.add_argument('--imgs', type=str, help='Images file')
+    parser.add_argument('--show',
+                        action='store_true',
+                        help='Show the detection results')
+    parser.add_argument('--out-dir',
+                        type=str,
+                        default='./output',
+                        help='Path to output file')
+    parser.add_argument('--conf-thres',
+                        type=float,
+                        default=0.25,
+                        help='Confidence threshold')
+    parser.add_argument('--iou-thres',
+                        type=float,
+                        default=0.65,
+                        help='Confidence threshold')
+    parser.add_argument('--device',
+                        type=str,
+                        default='cuda:0',
+                        help='TensorRT infer device')
+    args = parser.parse_args()
+    return args
+
+
+if __name__ == '__main__':
+    args = parse_args()
+    main(args)
diff --git a/infer-seg-without-torch.py b/infer-seg-without-torch.py
index f1923e3..fa08b62 100644
--- a/infer-seg-without-torch.py
+++ b/infer-seg-without-torch.py
@@ -41,6 +41,10 @@ def main(args: argparse.Namespace) -> None:
         seg_img = seg_img[dh:H - dh, dw:W - dw, [2, 1, 0]]
         bboxes, scores, labels, masks = seg_postprocess(
             data, bgr.shape[:2], args.conf_thres, args.iou_thres)
+        if bboxes.size == 0:
+            # if no bounding box
+            print(f'{image}: no object!')
+            continue
         masks = masks[:, dh:H - dh, dw:W - dw, :]
         mask_colors = MASK_COLORS[labels % len(MASK_COLORS)]
         mask_colors = mask_colors.reshape(-1, 1, 1, 3) * ALPHA
diff --git a/infer-seg.py b/infer-seg.py
index de77316..0284244 100644
--- a/infer-seg.py
+++ b/infer-seg.py
@@ -42,10 +42,9 @@ def main(args: argparse.Namespace) -> None:
                                 device=device)
         bboxes, scores, labels, masks = seg_postprocess(
             data, bgr.shape[:2], args.conf_thres, args.iou_thres)
-        if bboxes is None:
-            # if no bounding box or others save original image
-            if not args.show:
-                cv2.imwrite(str(save_image), draw)
+        if bboxes.numel() == 0:
+            # if no bounding box
+            print(f'{image}: no object!')
             continue
         masks = masks[:, dh:H - dh, dw:W - dw, :]
         indices = (labels % len(MASK_COLORS)).long()
diff --git a/models/torch_utils.py b/models/torch_utils.py
index 1bf7d39..36d0255 100644
--- a/models/torch_utils.py
+++ b/models/torch_utils.py
@@ -3,7 +3,7 @@ from typing import List, Tuple, Union
 import torch
 import torch.nn.functional as F
 from torch import Tensor
-from torchvision.ops import batched_nms
+from torchvision.ops import batched_nms, nms
 
 
 def seg_postprocess(
@@ -14,12 +14,13 @@ def seg_postprocess(
         -> Tuple[Tensor, Tensor, Tensor, Tensor]:
     assert len(data) == 2
     h, w = shape[0] // 4, shape[1] // 4  # 4x downsampling
-    outputs, proto = (i[0] for i in data)
+    outputs, proto = data[0][0], data[1][0]
     bboxes, scores, labels, maskconf = outputs.split([4, 1, 1, 32], 1)
     scores, labels = scores.squeeze(), labels.squeeze()
     idx = scores > conf_thres
-    if idx.sum() == 0:  # no bounding boxes or seg were created
-        return None, None, None, None
+    if not idx.any():  # no bounding boxes or seg were created
+        return bboxes.new_zeros((0, 4)), scores.new_zeros(
+            (0, )), labels.new_zeros((0, )), bboxes.new_zeros((0, 0, 0, 0))
     bboxes, scores, labels, maskconf = \
         bboxes[idx], scores[idx], labels[idx], maskconf[idx]
     idx = batched_nms(bboxes, scores, labels, iou_thres)
@@ -35,10 +36,37 @@ def seg_postprocess(
     return bboxes, scores, labels, masks
 
 
+def pose_postprocess(
+        data: Union[Tuple, Tensor],
+        conf_thres: float = 0.25,
+        iou_thres: float = 0.65) \
+        -> Tuple[Tensor, Tensor, Tensor]:
+    if isinstance(data, tuple):
+        assert len(data) == 1
+        data = data[0]
+    outputs = torch.transpose(data[0], 0, 1).contiguous()
+    bboxes, scores, kpts = outputs.split([4, 1, 51], 1)
+    scores, kpts = scores.squeeze(), kpts.squeeze()
+    idx = scores > conf_thres
+    if not idx.any():  # no bounding boxes or seg were created
+        return bboxes.new_zeros((0, 4)), scores.new_zeros(
+            (0, )), bboxes.new_zeros((0, 0, 0))
+    bboxes, scores, kpts = bboxes[idx], scores[idx], kpts[idx]
+    xycenter, wh = bboxes.chunk(2, -1)
+    bboxes = torch.cat([xycenter - 0.5 * wh, xycenter + 0.5 * wh], -1)
+    idx = nms(bboxes, scores, iou_thres)
+    bboxes, scores, kpts = bboxes[idx], scores[idx], kpts[idx]
+    return bboxes, scores, kpts.reshape(idx.shape[0], -1, 3)
+
+
 def det_postprocess(data: Tuple[Tensor, Tensor, Tensor, Tensor]):
     assert len(data) == 4
-    num_dets, bboxes, scores, labels = (i[0] for i in data)
+    num_dets, bboxes, scores, labels = data[0][0], data[1][0], data[2][
+        0], data[3][0]
     nums = num_dets.item()
+    if nums == 0:
+        return bboxes.new_zeros((0, 4)), scores.new_zeros(
+            (0, )), labels.new_zeros((0, ))
     bboxes = bboxes[:nums]
     scores = scores[:nums]
     labels = labels[:nums]
diff --git a/models/utils.py b/models/utils.py
index 01c5034..c0d78ae 100644
--- a/models/utils.py
+++ b/models/utils.py
@@ -45,6 +45,7 @@ def letterbox(im: ndarray,
 
 
 def blob(im: ndarray, return_seg: bool = False) -> Union[ndarray, Tuple]:
+    seg = None
     if return_seg:
         seg = im.astype(np.float32) / 255
     im = im.transpose([2, 0, 1])
@@ -88,6 +89,9 @@ def det_postprocess(data: Tuple[ndarray, ndarray, ndarray, ndarray]):
     assert len(data) == 4
     num_dets, bboxes, scores, labels = (i[0] for i in data)
     nums = num_dets.item()
+    if nums == 0:
+        return np.empty((0, 4), dtype=np.float32), np.empty(
+            (0, ), dtype=np.float32), np.empty((0, ), dtype=np.int32)
     bboxes = bboxes[:nums]
     scores = scores[:nums]
     labels = labels[:nums]
@@ -106,6 +110,12 @@ def seg_postprocess(
     bboxes, scores, labels, maskconf = np.split(outputs, [4, 5, 6], 1)
     scores, labels = scores.squeeze(), labels.squeeze()
     idx = scores > conf_thres
+    if not idx.any():  # no bounding boxes or seg were created
+        return np.empty((0, 4), dtype=np.float32), \
+            np.empty((0,), dtype=np.float32), \
+            np.empty((0,), dtype=np.int32), \
+            np.empty((0, 0, 0, 0), dtype=np.int32)
+
     bboxes, scores, labels, maskconf = \
         bboxes[idx], scores[idx], labels[idx], maskconf[idx]
     cvbboxes = np.concatenate([bboxes[:, :2], bboxes[:, 2:] - bboxes[:, :2]],
@@ -128,3 +138,29 @@ def seg_postprocess(
     masks = masks.transpose(2, 0, 1)
     masks = np.ascontiguousarray((masks > 0.5)[..., None], dtype=np.float32)
     return bboxes, scores, labels, masks
+
+
+def pose_postprocess(
+        data: Union[Tuple, ndarray],
+        conf_thres: float = 0.25,
+        iou_thres: float = 0.65) \
+        -> Tuple[ndarray, ndarray, ndarray]:
+    if isinstance(data, tuple):
+        assert len(data) == 1
+        data = data[0]
+    outputs = np.transpose(data[0], (1, 0))
+    bboxes, scores, kpts = np.split(outputs, [4, 5], 1)
+    scores, kpts = scores.squeeze(), kpts.squeeze()
+    idx = scores > conf_thres
+    if not idx.any():  # no bounding boxes or seg were created
+        return np.empty((0, 4), dtype=np.float32), np.empty(
+            (0, ), dtype=np.float32), np.empty((0, 0, 0), dtype=np.float32)
+    bboxes, scores, kpts = bboxes[idx], scores[idx], kpts[idx]
+    xycenter, wh = np.split(bboxes, [
+        2,
+    ], -1)
+    cvbboxes = np.concatenate([xycenter - 0.5 * wh, wh], -1)
+    idx = cv2.dnn.NMSBoxes(cvbboxes, scores, conf_thres, iou_thres)
+    cvbboxes, scores, kpts = cvbboxes[idx], scores[idx], kpts[idx]
+    cvbboxes[:, 2:] += cvbboxes[:, :2]
+    return cvbboxes, scores, kpts.reshape(idx.shape[0], -1, 3)