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README.md

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+---
+license: other
+tags:
+  - heal
+  - horizon
+  - bev
+---
+
+# BEVFormer (ResNet-50)
+
+BEVFormer extracts BEV features from multi-camera sequences via learnable spatiotemporal attention (Temporal Self-Attention + Spatial Cross-Attention): ResNet-50 + FPN extract multi-scale image features, BevFormerViewTransformer projects to BEV, BEVFormerEncoder fuses temporal and spatial information, and BEVFormerDetDecoder decodes 3D bounding boxes.
+
+---
+
+## Deployment Metrics
+
+### Model Parameters
+
+| Model | Model Input | Backbone | Neck | Model Output |
+|---|---|---|---|---|
+| BevFormer | 6-camera multi-view image sequence `(B,6,3,480,800)` | ResNet-50 | FPN | 3D bounding boxes `(B,N,cls+reg)` |
+
+### Accuracy Metrics
+
+| March | Metric | float | calibration | qat | hbm |
+| --- | --- | --- | --- | --- | --- |
+| J6M | NDS | 0.3739 | 0.3607 | 0.3734 | 0.3669 |
+
+> Results measured with `march = March.NASH_M` (J6M) configuration.
+>
+> HEAL version: heal 0.0.2 / hbdk4-compiler 4.11.11 / horizon_plugin_pytorch 3.3.10.
+
+### Performance Metrics
+
+> **Performance benchmark**: FPS is measured with single-core 8 threads; latency is single-core single-thread; memory is peak DDR usage.
+
+| March | latency (ms) | fps | Memory Usage |
+|---|---|---|---|
+| J6M | 21.80 | 46.62 | 108.20 |
+| J6P | 14.07 | 277.01 | 108.60 |
+| J6B | - | - | - |
+
+J6B performance is not available for this model.
+
+---
+
+## Model Overview
+
+### Core Design
+
+BEVFormer extracts BEV features from multi-camera sequences via learnable spatiotemporal attention (Temporal Self-Attention + Spatial Cross-Attention): ResNet-50 + FPN extract multi-scale image features, BevFormerViewTransformer projects to BEV, BEVFormerEncoder fuses temporal and spatial information, and BEVFormerDetDecoder decodes 3D bounding boxes.
+
+- **Task type**: BEV 3D object detection (BEV 3D Object Detection).
+- **backbone**: ResNet-50 (`ResNet50`, `include_top=False`, pretrained `num_classes=1000`).
+- **neck**: FPN (`FPN`, multi-scale feature pyramid, `out_strides=[32]`, `out_channels=[256]`).
+- **Detection head**: `BEVFormerDetDecoder` (DETR-style decoder + Hungarian matching).
+- **Loss function**: `BevFormerCriterion` (FocalLoss + L1Loss, matched via BevFormerHungarianAssigner3D).
+- **Model input**: 6-camera multi-view image sequence, `(B,6,3,480,800)` (original `orig_shape=(3,900,1600)` → resize `(3,450,800)` → pad to `(3,480,800)`, `num_views=6`, training `queue_length=3`, evaluation `queue_length=1`).
+- **Model output**: 3D bounding boxes on BEV features (class + center + size + orientation), `num_query=900`, `num_classes=10`, decoded via `BevFormerProcess` (`max_num=300`, `score_threshold=0.3`).
+
+### Official Repo and Paper
+
+Official repo: https://github.com/fundamentalvision/BevFormer
+Paper: https://arxiv.org/abs/2203.17270
+
+### Reference
+
+For more J6 chip deployment details, see https://developer.horizon.auto/blog/10006