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BEVDet

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BEVDet: Optimized for Qualcomm Devices

BEVDet is a machine learning model for generating a birds eye view represenation from the sensors(cameras) mounted on a vehicle.

This is based on the implementation of BEVDet found here. This repository contains pre-exported model files optimized for Qualcomm® devices. You can use the Qualcomm® AI Hub Models library to export with custom configurations. More details on model performance across various devices, can be found here.

Qualcomm AI Hub Models uses Qualcomm AI Hub Workbench to compile, profile, and evaluate this model. Sign up to run these models on a hosted Qualcomm® device.

Getting Started

There are two ways to deploy this model on your device:

Option 1: Download Pre-Exported Models

Below are pre-exported model assets ready for deployment.

Runtime Precision Chipset SDK Versions Download
ONNX float Universal QAIRT 2.45, ONNX Runtime 1.27.1 Download
QNN_DLC float Universal QAIRT 2.45 Download
TFLITE float Universal QAIRT 2.45 Download

For more device-specific assets and performance metrics, visit BEVDet on Qualcomm® AI Hub.

Option 2: Export with Custom Configurations

Use the Qualcomm® AI Hub Models Python library to compile and export the model with your own:

  • Custom weights (e.g., fine-tuned checkpoints)
  • Custom input shapes
  • Target device and runtime configurations

This option is ideal if you need to customize the model beyond the default configuration provided here.

See our repository for BEVDet on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.driver_assistance

Model Stats:

  • Input resolution: 1 x 6 x 3 x 256 x 704
  • Model checkpoint: bevdet-r50.pth
  • Model size: 171 MB
  • Number of parameters: 44M

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
decoder ONNX float Snapdragon® X2 Elite 6.434 ms 4 - 4 MB NPU
decoder ONNX float Snapdragon® X Elite 12.463 ms 34 - 34 MB NPU
decoder ONNX float Snapdragon® 8 Gen 3 Mobile 8.827 ms 0 - 175 MB NPU
decoder ONNX float Snapdragon® 8 Gen 1 Mobile 23.574 ms 0 - 170 MB NPU
decoder ONNX float Qualcomm® Dragonwing™ IQ-8275 25.692 ms 4 - 11 MB NPU
decoder ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.954 ms 0 - 49 MB NPU
decoder ONNX float Qualcomm® QCS8450 23.574 ms 0 - 170 MB NPU
decoder ONNX float Qualcomm® Dragonwing™ IQ-9075 23.611 ms 4 - 11 MB NPU
decoder ONNX float Qualcomm® Dragonwing™ IQ-X7181 12.463 ms 34 - 34 MB NPU
decoder ONNX float Qualcomm® Dragonwing™ Q-8750 7.591 ms 3 - 151 MB NPU
decoder ONNX float Snapdragon® 8 Elite Mobile 7.591 ms 3 - 151 MB NPU
decoder ONNX float Snapdragon® 8 Elite Gen 5 Mobile 5.567 ms 3 - 151 MB NPU
decoder QNN_DLC float Snapdragon® X2 Elite 6.72 ms 4 - 4 MB NPU
decoder QNN_DLC float Snapdragon® X Elite 12.594 ms 4 - 4 MB NPU
decoder QNN_DLC float Snapdragon® 8 Gen 3 Mobile 8.796 ms 0 - 170 MB NPU
decoder QNN_DLC float Snapdragon® 8 Gen 1 Mobile 23.197 ms 0 - 170 MB NPU
decoder QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 25.793 ms 4 - 12 MB NPU
decoder QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 87.638 ms 2 - 146 MB NPU
decoder QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.909 ms 4 - 33 MB NPU
decoder QNN_DLC float Qualcomm® SA8775P 23.098 ms 1 - 148 MB NPU
decoder QNN_DLC float Qualcomm® SA8650P 23.098 ms 1 - 148 MB NPU
decoder QNN_DLC float Qualcomm® SA8255P 23.098 ms 1 - 148 MB NPU
decoder QNN_DLC float Qualcomm® QCS8450 23.197 ms 0 - 170 MB NPU
decoder QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 23.712 ms 4 - 11 MB NPU
decoder QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 12.594 ms 4 - 4 MB NPU
decoder QNN_DLC float Qualcomm® Dragonwing™ Q-8750 7.608 ms 4 - 150 MB NPU
decoder QNN_DLC float Qualcomm® SA7255P 87.638 ms 2 - 146 MB NPU
decoder QNN_DLC float Qualcomm® SA8295P 25.551 ms 0 - 142 MB NPU
decoder QNN_DLC float Snapdragon® 8 Elite Mobile 7.608 ms 4 - 150 MB NPU
decoder QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 5.581 ms 4 - 154 MB NPU
decoder TFLITE float Snapdragon® 8 Gen 3 Mobile 8.81 ms 0 - 203 MB NPU
decoder TFLITE float Snapdragon® 8 Gen 1 Mobile 23.42 ms 1 - 205 MB NPU
decoder TFLITE float Qualcomm® Dragonwing™ IQ-8275 25.767 ms 1 - 46 MB NPU
decoder TFLITE float Qualcomm® Dragonwing™ IQ-8275 87.575 ms 2 - 149 MB NPU
decoder TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.867 ms 1 - 4 MB NPU
decoder TFLITE float Qualcomm® SA8775P 23.132 ms 1 - 152 MB NPU
decoder TFLITE float Qualcomm® SA8650P 23.132 ms 1 - 152 MB NPU
decoder TFLITE float Qualcomm® SA8255P 23.132 ms 1 - 152 MB NPU
decoder TFLITE float Qualcomm® QCS8450 23.42 ms 1 - 205 MB NPU
decoder TFLITE float Qualcomm® Dragonwing™ IQ-9075 23.807 ms 0 - 45 MB NPU
decoder TFLITE float Qualcomm® Dragonwing™ Q-8750 7.551 ms 1 - 148 MB NPU
decoder TFLITE float Qualcomm® SA7255P 87.575 ms 2 - 149 MB NPU
decoder TFLITE float Qualcomm® SA8295P 25.525 ms 1 - 146 MB NPU
decoder TFLITE float Snapdragon® 8 Elite Mobile 7.551 ms 1 - 148 MB NPU
decoder TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 5.572 ms 1 - 152 MB NPU
encoder ONNX float Snapdragon® X2 Elite 23.552 ms 12 - 12 MB NPU
encoder ONNX float Snapdragon® X Elite 45.051 ms 39 - 39 MB NPU
encoder ONNX float Snapdragon® 8 Gen 3 Mobile 36.914 ms 19 - 442 MB NPU
encoder ONNX float Snapdragon® 8 Gen 1 Mobile 82.281 ms 17 - 345 MB NPU
encoder ONNX float Qualcomm® Dragonwing™ IQ-8275 72.585 ms 12 - 28 MB NPU
encoder ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 47.821 ms 0 - 44 MB NPU
encoder ONNX float Qualcomm® QCS8450 82.281 ms 17 - 345 MB NPU
encoder ONNX float Qualcomm® Dragonwing™ IQ-9075 72.053 ms 12 - 27 MB NPU
encoder ONNX float Qualcomm® Dragonwing™ IQ-X7181 45.051 ms 39 - 39 MB NPU
encoder ONNX float Qualcomm® Dragonwing™ Q-8750 26.477 ms 5 - 320 MB NPU
encoder ONNX float Snapdragon® 8 Elite Mobile 26.477 ms 5 - 320 MB NPU
encoder ONNX float Snapdragon® 8 Elite Gen 5 Mobile 21.123 ms 4 - 336 MB NPU
encoder QNN_DLC float Snapdragon® X2 Elite 22.779 ms 12 - 12 MB NPU
encoder QNN_DLC float Snapdragon® X Elite 43.835 ms 12 - 12 MB NPU
encoder QNN_DLC float Snapdragon® 8 Gen 3 Mobile 37.42 ms 12 - 429 MB NPU
encoder QNN_DLC float Snapdragon® 8 Gen 1 Mobile 81.208 ms 3 - 324 MB NPU
encoder QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 67.937 ms 12 - 29 MB NPU
encoder QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 207.665 ms 12 - 318 MB NPU
encoder QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 44.08 ms 13 - 18 MB NPU
encoder QNN_DLC float Qualcomm® SA8775P 64.975 ms 0 - 305 MB NPU
encoder QNN_DLC float Qualcomm® SA8650P 64.975 ms 0 - 305 MB NPU
encoder QNN_DLC float Qualcomm® SA8255P 64.975 ms 0 - 305 MB NPU
encoder QNN_DLC float Qualcomm® QCS8450 81.208 ms 3 - 324 MB NPU
encoder QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 65.669 ms 14 - 30 MB NPU
encoder QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 43.835 ms 12 - 12 MB NPU
encoder QNN_DLC float Qualcomm® Dragonwing™ Q-8750 25.26 ms 12 - 326 MB NPU
encoder QNN_DLC float Qualcomm® SA7255P 207.665 ms 12 - 318 MB NPU
encoder QNN_DLC float Qualcomm® SA8295P 68.833 ms 0 - 231 MB NPU
encoder QNN_DLC float Snapdragon® 8 Elite Mobile 25.26 ms 12 - 326 MB NPU
encoder QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 20.072 ms 11 - 347 MB NPU
encoder TFLITE float Snapdragon® 8 Gen 3 Mobile 35.889 ms 24 - 483 MB NPU
encoder TFLITE float Snapdragon® 8 Gen 1 Mobile 75.93 ms 25 - 390 MB NPU
encoder TFLITE float Qualcomm® Dragonwing™ IQ-8275 73.424 ms 25 - 115 MB NPU
encoder TFLITE float Qualcomm® Dragonwing™ IQ-8275 213.601 ms 25 - 352 MB NPU
encoder TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 46.229 ms 25 - 27 MB NPU
encoder TFLITE float Qualcomm® SA8775P 67.296 ms 25 - 353 MB NPU
encoder TFLITE float Qualcomm® SA8650P 67.296 ms 25 - 353 MB NPU
encoder TFLITE float Qualcomm® SA8255P 67.296 ms 25 - 353 MB NPU
encoder TFLITE float Qualcomm® QCS8450 75.93 ms 25 - 390 MB NPU
encoder TFLITE float Qualcomm® Dragonwing™ IQ-9075 67.513 ms 24 - 114 MB NPU
encoder TFLITE float Qualcomm® Dragonwing™ Q-8750 28.688 ms 25 - 359 MB NPU
encoder TFLITE float Qualcomm® SA7255P 213.601 ms 25 - 352 MB NPU
encoder TFLITE float Qualcomm® SA8295P 67.93 ms 25 - 269 MB NPU
encoder TFLITE float Snapdragon® 8 Elite Mobile 28.688 ms 25 - 359 MB NPU
encoder TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 21.347 ms 24 - 367 MB NPU
pooler ONNX float Snapdragon® X2 Elite 21.971 ms 535 - 535 MB CPU
pooler ONNX float Snapdragon® X Elite 97.562 ms 534 - 534 MB CPU
pooler ONNX float Snapdragon® 8 Gen 3 Mobile 26.572 ms 332 - 339 MB CPU
pooler ONNX float Snapdragon® 8 Gen 1 Mobile 39.386 ms 307 - 317 MB CPU
pooler ONNX float Qualcomm® Dragonwing™ IQ-8275 71.144 ms 324 - 328 MB CPU
pooler ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 31.435 ms 327 - 329 MB CPU
pooler ONNX float Qualcomm® QCS8450 39.386 ms 307 - 317 MB CPU
pooler ONNX float Qualcomm® Dragonwing™ IQ-9075 49.748 ms 328 - 332 MB CPU
pooler ONNX float Qualcomm® Dragonwing™ IQ-X7181 97.562 ms 534 - 534 MB CPU
pooler ONNX float Qualcomm® Dragonwing™ Q-8750 27.552 ms 327 - 335 MB CPU
pooler ONNX float Snapdragon® 8 Elite Mobile 27.552 ms 327 - 335 MB CPU
pooler ONNX float Snapdragon® 8 Elite Gen 5 Mobile 28.504 ms 327 - 334 MB CPU
pooler QNN_DLC float Snapdragon® X2 Elite 317.519 ms 3 - 3 MB CPU
pooler QNN_DLC float Snapdragon® X Elite 361.591 ms 3 - 3 MB CPU
pooler QNN_DLC float Snapdragon® 8 Gen 3 Mobile 154.239 ms 409 - 425 MB CPU
pooler QNN_DLC float Snapdragon® 8 Gen 1 Mobile 201.251 ms 2 - 19 MB CPU
pooler QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 358.204 ms 269 - 739 MB CPU
pooler QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 362.029 ms 4 - 17 MB CPU
pooler QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 171.999 ms 7 - 11 MB CPU
pooler QNN_DLC float Qualcomm® SA8775P 319.861 ms 4 - 16 MB CPU
pooler QNN_DLC float Qualcomm® SA8650P 319.861 ms 4 - 16 MB CPU
pooler QNN_DLC float Qualcomm® SA8255P 319.861 ms 4 - 16 MB CPU
pooler QNN_DLC float Qualcomm® QCS8450 201.251 ms 2 - 19 MB CPU
pooler QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 333.868 ms 270 - 740 MB CPU
pooler QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 361.591 ms 3 - 3 MB CPU
pooler QNN_DLC float Qualcomm® Dragonwing™ Q-8750 177.937 ms 4 - 19 MB CPU
pooler QNN_DLC float Qualcomm® SA7255P 362.029 ms 4 - 17 MB CPU
pooler QNN_DLC float Qualcomm® SA8295P 311.647 ms 3 - 15 MB CPU
pooler QNN_DLC float Snapdragon® 8 Elite Mobile 177.937 ms 4 - 19 MB CPU
pooler QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 214.032 ms 4 - 15 MB CPU
pooler TFLITE float Snapdragon® 8 Gen 3 Mobile 53.129 ms 120 - 132 MB CPU
pooler TFLITE float Snapdragon® 8 Gen 1 Mobile 81.956 ms 128 - 143 MB CPU
pooler TFLITE float Qualcomm® Dragonwing™ IQ-8275 132.093 ms 127 - 321 MB CPU
pooler TFLITE float Qualcomm® Dragonwing™ IQ-8275 117.49 ms 117 - 126 MB CPU
pooler TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 73.405 ms 128 - 130 MB CPU
pooler TFLITE float Qualcomm® SA8775P 101.23 ms 128 - 133 MB CPU
pooler TFLITE float Qualcomm® SA8650P 101.23 ms 128 - 133 MB CPU
pooler TFLITE float Qualcomm® SA8255P 101.23 ms 128 - 133 MB CPU
pooler TFLITE float Qualcomm® QCS8450 81.956 ms 128 - 143 MB CPU
pooler TFLITE float Qualcomm® Dragonwing™ IQ-9075 96.088 ms 127 - 320 MB CPU
pooler TFLITE float Qualcomm® Dragonwing™ Q-8750 56.936 ms 127 - 139 MB CPU
pooler TFLITE float Qualcomm® SA7255P 117.49 ms 117 - 126 MB CPU
pooler TFLITE float Qualcomm® SA8295P 99.538 ms 127 - 133 MB CPU
pooler TFLITE float Snapdragon® 8 Elite Mobile 56.936 ms 127 - 139 MB CPU
pooler TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 52.215 ms 127 - 141 MB CPU

License

  • The license for the original implementation of BEVDet can be found here.

References

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Paper for qualcomm/BEVDet