diff --git a/mediapipe/calculators/util/BUILD b/mediapipe/calculators/util/BUILD
index a679a80fd..6ac60d2c1 100644
--- a/mediapipe/calculators/util/BUILD
+++ b/mediapipe/calculators/util/BUILD
@@ -167,6 +167,7 @@ cc_test(
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework:calculator_runner",
         "//mediapipe/framework/formats:detection_cc_proto",
+        "//mediapipe/framework/formats:location_data_cc_proto",
         "//mediapipe/framework/port:gtest_main",
         "//mediapipe/framework/port:parse_text_proto",
     ],
@@ -413,6 +414,7 @@ cc_library(
         ":filter_detections_calculator_cc_proto",
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework/formats:detection_cc_proto",
+        "//mediapipe/framework/formats:location_data_cc_proto",
         "//mediapipe/framework/port:status",
         "@com_google_absl//absl/memory",
     ],
diff --git a/mediapipe/calculators/util/filter_detections_calculator.cc b/mediapipe/calculators/util/filter_detections_calculator.cc
index a1f23ba83..7b5bcca4c 100644
--- a/mediapipe/calculators/util/filter_detections_calculator.cc
+++ b/mediapipe/calculators/util/filter_detections_calculator.cc
@@ -21,11 +21,13 @@
 #include "mediapipe/calculators/util/filter_detections_calculator.pb.h"
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/formats/detection.pb.h"
+#include "mediapipe/framework/formats/location_data.pb.h"
 #include "mediapipe/framework/port/status.h"
 
 namespace mediapipe {
 
 const char kInputDetectionsTag[] = "INPUT_DETECTIONS";
+const char kImageSizeTag[] = "IMAGE_SIZE";  //  <width, height>
 const char kOutputDetectionsTag[] = "OUTPUT_DETECTIONS";
 
 //
@@ -41,6 +43,10 @@ class FilterDetectionsCalculator : public CalculatorBase {
     cc->Inputs().Tag(kInputDetectionsTag).Set<std::vector<Detection>>();
     cc->Outputs().Tag(kOutputDetectionsTag).Set<std::vector<Detection>>();
 
+    if (cc->Inputs().HasTag(kImageSizeTag)) {
+      cc->Inputs().Tag(kImageSizeTag).Set<std::pair<int, int>>();
+    }
+
     return absl::OkStatus();
   }
 
@@ -48,21 +54,51 @@ class FilterDetectionsCalculator : public CalculatorBase {
     cc->SetOffset(TimestampDiff(0));
     options_ = cc->Options<mediapipe::FilterDetectionsCalculatorOptions>();
 
+    if (options_.has_min_pixel_size() || options_.has_max_pixel_size()) {
+      RET_CHECK(cc->Inputs().HasTag(kImageSizeTag));
+    }
+
     return absl::OkStatus();
   }
 
   absl::Status Process(CalculatorContext* cc) final {
     const auto& input_detections =
         cc->Inputs().Tag(kInputDetectionsTag).Get<std::vector<Detection>>();
-
     auto output_detections = absl::make_unique<std::vector<Detection>>();
 
+    int image_width = 0;
+    int image_height = 0;
+    if (cc->Inputs().HasTag(kImageSizeTag)) {
+      std::tie(image_width, image_height) =
+          cc->Inputs().Tag(kImageSizeTag).Get<std::pair<int, int>>();
+    }
+
     for (const Detection& detection : input_detections) {
-      RET_CHECK_GT(detection.score_size(), 0);
-      // Note: only score at index 0 supported.
-      if (detection.score(0) >= options_.min_score()) {
-        output_detections->push_back(detection);
+      if (options_.has_min_score()) {
+        RET_CHECK_GT(detection.score_size(), 0);
+        // Note: only score at index 0 supported.
+        if (detection.score(0) < options_.min_score()) {
+          continue;
+        }
       }
+      // Matches rect_size in
+      // mediapipe/calculators/util/rect_to_render_scale_calculator.cc
+      const float rect_size =
+          std::max(detection.location_data().relative_bounding_box().width() *
+                       image_width,
+                   detection.location_data().relative_bounding_box().height() *
+                       image_height);
+      if (options_.has_min_pixel_size()) {
+        if (rect_size < options_.min_pixel_size()) {
+          continue;
+        }
+      }
+      if (options_.has_max_pixel_size()) {
+        if (rect_size > options_.max_pixel_size()) {
+          continue;
+        }
+      }
+      output_detections->push_back(detection);
     }
 
     cc->Outputs()
diff --git a/mediapipe/calculators/util/filter_detections_calculator.proto b/mediapipe/calculators/util/filter_detections_calculator.proto
index e16898c79..2b23236d6 100644
--- a/mediapipe/calculators/util/filter_detections_calculator.proto
+++ b/mediapipe/calculators/util/filter_detections_calculator.proto
@@ -25,4 +25,10 @@ message FilterDetectionsCalculatorOptions {
 
   // Detections lower than this score get filtered out.
   optional float min_score = 1;
+
+  // Detections smaller than this size *in pixels* get filtered out.
+  optional float min_pixel_size = 2;
+
+  // Detections larger than this size *in pixels* get filtered out.
+  optional float max_pixel_size = 3;
 }
diff --git a/mediapipe/calculators/util/filter_detections_calculator_test.cc b/mediapipe/calculators/util/filter_detections_calculator_test.cc
index 58b3fe41d..78093827b 100644
--- a/mediapipe/calculators/util/filter_detections_calculator_test.cc
+++ b/mediapipe/calculators/util/filter_detections_calculator_test.cc
@@ -17,6 +17,7 @@
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/calculator_runner.h"
 #include "mediapipe/framework/formats/detection.pb.h"
+#include "mediapipe/framework/formats/location_data.pb.h"
 #include "mediapipe/framework/port/gmock.h"
 #include "mediapipe/framework/port/gtest.h"
 #include "mediapipe/framework/port/parse_text_proto.h"
@@ -27,8 +28,8 @@ namespace {
 
 using ::testing::ElementsAre;
 
-absl::Status RunGraph(std::vector<Detection>& input_detections,
-                      std::vector<Detection>* output_detections) {
+absl::Status RunScoreGraph(std::vector<Detection>& input_detections,
+                           std::vector<Detection>* output_detections) {
   CalculatorRunner runner(R"pb(
     calculator: "FilterDetectionsCalculator"
     input_stream: "INPUT_DETECTIONS:input_detections"
@@ -53,7 +54,7 @@ absl::Status RunGraph(std::vector<Detection>& input_detections,
   return absl::OkStatus();
 }
 
-TEST(FilterDetectionsCalculatorTest, TestFilterDetections) {
+TEST(FilterDetectionsCalculatorTest, TestFilterDetectionsScore) {
   std::vector<Detection> input_detections;
   Detection d1, d2;
   d1.add_score(0.2);
@@ -62,12 +63,12 @@ TEST(FilterDetectionsCalculatorTest, TestFilterDetections) {
   input_detections.push_back(d2);
 
   std::vector<Detection> output_detections;
-  MP_EXPECT_OK(RunGraph(input_detections, &output_detections));
+  MP_EXPECT_OK(RunScoreGraph(input_detections, &output_detections));
 
   EXPECT_THAT(output_detections, ElementsAre(mediapipe::EqualsProto(d2)));
 }
 
-TEST(FilterDetectionsCalculatorTest, TestFilterDetectionsMultiple) {
+TEST(FilterDetectionsCalculatorTest, TestFilterDetectionsScoreMultiple) {
   std::vector<Detection> input_detections;
   Detection d1, d2, d3, d4;
   d1.add_score(0.3);
@@ -80,7 +81,7 @@ TEST(FilterDetectionsCalculatorTest, TestFilterDetectionsMultiple) {
   input_detections.push_back(d4);
 
   std::vector<Detection> output_detections;
-  MP_EXPECT_OK(RunGraph(input_detections, &output_detections));
+  MP_EXPECT_OK(RunScoreGraph(input_detections, &output_detections));
 
   EXPECT_THAT(output_detections, ElementsAre(mediapipe::EqualsProto(d3),
                                              mediapipe::EqualsProto(d4)));
@@ -90,10 +91,69 @@ TEST(FilterDetectionsCalculatorTest, TestFilterDetectionsEmpty) {
   std::vector<Detection> input_detections;
 
   std::vector<Detection> output_detections;
-  MP_EXPECT_OK(RunGraph(input_detections, &output_detections));
+  MP_EXPECT_OK(RunScoreGraph(input_detections, &output_detections));
 
   EXPECT_EQ(output_detections.size(), 0);
 }
 
+absl::Status RunSizeGraph(std::vector<Detection>& input_detections,
+                          std::pair<int, int> image_dimensions,
+                          std::vector<Detection>* output_detections) {
+  CalculatorRunner runner(R"pb(
+    calculator: "FilterDetectionsCalculator"
+    input_stream: "INPUT_DETECTIONS:input_detections"
+    input_stream: "IMAGE_SIZE:image_dimensions"
+    output_stream: "OUTPUT_DETECTIONS:output_detections"
+    options {
+      [mediapipe.FilterDetectionsCalculatorOptions.ext] { min_pixel_size: 50 }
+    }
+  )pb");
+
+  const Timestamp input_timestamp = Timestamp(0);
+  runner.MutableInputs()
+      ->Tag("INPUT_DETECTIONS")
+      .packets.push_back(MakePacket<std::vector<Detection>>(input_detections)
+                             .At(input_timestamp));
+  runner.MutableInputs()
+      ->Tag("IMAGE_SIZE")
+      .packets.push_back(MakePacket<std::pair<int, int>>(image_dimensions)
+                             .At(input_timestamp));
+  MP_RETURN_IF_ERROR(runner.Run()) << "Calculator run failed.";
+
+  const std::vector<Packet>& output_packets =
+      runner.Outputs().Tag("OUTPUT_DETECTIONS").packets;
+  RET_CHECK_EQ(output_packets.size(), 1);
+
+  *output_detections = output_packets[0].Get<std::vector<Detection>>();
+  return absl::OkStatus();
+}
+
+TEST(FilterDetectionsCalculatorTest, TestFilterDetectionsMinSize) {
+  std::vector<Detection> input_detections;
+  Detection d1, d2, d3, d4, d5;
+  d1.mutable_location_data()->mutable_relative_bounding_box()->set_height(0.5);
+  d1.mutable_location_data()->mutable_relative_bounding_box()->set_width(0.49);
+  d2.mutable_location_data()->mutable_relative_bounding_box()->set_height(0.4);
+  d2.mutable_location_data()->mutable_relative_bounding_box()->set_width(0.4);
+  d3.mutable_location_data()->mutable_relative_bounding_box()->set_height(0.49);
+  d3.mutable_location_data()->mutable_relative_bounding_box()->set_width(0.5);
+  d4.mutable_location_data()->mutable_relative_bounding_box()->set_height(0.49);
+  d4.mutable_location_data()->mutable_relative_bounding_box()->set_width(0.49);
+  d5.mutable_location_data()->mutable_relative_bounding_box()->set_height(0.5);
+  d5.mutable_location_data()->mutable_relative_bounding_box()->set_width(0.5);
+  input_detections.push_back(d1);
+  input_detections.push_back(d2);
+  input_detections.push_back(d3);
+  input_detections.push_back(d4);
+  input_detections.push_back(d5);
+
+  std::vector<Detection> output_detections;
+  MP_EXPECT_OK(RunSizeGraph(input_detections, {100, 100}, &output_detections));
+
+  EXPECT_THAT(output_detections, ElementsAre(mediapipe::EqualsProto(d1),
+                                             mediapipe::EqualsProto(d3),
+                                             mediapipe::EqualsProto(d5)));
+}
+
 }  // namespace
 }  // namespace mediapipe