I had similar problem when i was trying to work with coco-ssd. I think this problem is caused because of the version. I changed version of tfjs to 0.9.0 and coco-ssd version to 1.1.0 and it worked for me. (you can search for posenet versions on : https://www.jsdelivr.com/package/npm/@tensorflow-models/posenet)
<!-- Load TensorFlow.js-->
<script src="https://cdn.jsdelivr.net/npm/@tensorflow/[email protected]"></script>
<!-- Load the coco-ssd model. -->
<script src="https://cdn.jsdelivr.net/npm/@tensorflow-models/[email protected]"</script>