BEVFusion: Optimized for Qualcomm Devices

BeVFusion 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 BEVFusion 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
PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-8275	QAIRT 2.45	Download
PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	QAIRT 2.45	Download
PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-9075	QAIRT 2.45	Download
PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	QAIRT 2.45, ONNX Runtime 1.27.1	Download
PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	QAIRT 2.45, ONNX Runtime 1.27.1	Download
QNN_CONTEXT_BINARY	float	Snapdragon® X2 Elite	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Snapdragon® X Elite	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-8275	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-9075	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	QAIRT 2.45	Download
QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	QAIRT 2.45	Download

For more device-specific assets and performance metrics, visit BEVFusion 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 BEVFusion 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: camera-only-det.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	PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	7.0 ms	22 - 22 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	12.993 ms	24 - 24 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	9.781 ms	14 - 21 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	12.993 ms	24 - 24 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ Q-8750	7.726 ms	13 - 21 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	7.726 ms	13 - 21 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	5.852 ms	11 - 22 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Snapdragon® X2 Elite	7.514 ms	5 - 5 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Snapdragon® X Elite	13.182 ms	5 - 5 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	9.755 ms	5 - 12 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-8275	92.82 ms	1 - 9 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	23.776 ms	1 - 10 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA8650P	23.776 ms	1 - 10 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA8255P	23.776 ms	1 - 10 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-X7181	13.182 ms	5 - 5 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ Q-8750	7.668 ms	0 - 13 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	92.82 ms	1 - 9 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	7.668 ms	0 - 13 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	5.853 ms	5 - 14 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	393.702 ms	64 - 64 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	680.357 ms	96 - 96 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	522.693 ms	32 - 44 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	680.357 ms	96 - 96 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ Q-8750	437.993 ms	37 - 49 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	437.993 ms	37 - 49 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	353.811 ms	39 - 51 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® X2 Elite	395.333 ms	12 - 12 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® X Elite	681.479 ms	12 - 12 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	523.768 ms	13 - 20 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-8275	1074.583 ms	1 - 10 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	719.455 ms	0 - 9 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA8650P	719.455 ms	0 - 9 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA8255P	719.455 ms	0 - 9 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-X7181	681.479 ms	12 - 12 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ Q-8750	438.974 ms	0 - 13 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	1074.583 ms	1 - 10 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	438.974 ms	0 - 13 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	353.003 ms	2 - 11 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	2435.671 ms	1058 - 1058 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	3531.374 ms	1058 - 1058 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	2844.846 ms	595 - 602 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	3531.374 ms	1058 - 1058 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ Q-8750	2561.759 ms	574 - 585 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	2561.759 ms	574 - 585 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	2276.724 ms	514 - 522 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® X2 Elite	2435.705 ms	17 - 17 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® X Elite	3538.176 ms	17 - 17 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	2813.843 ms	17 - 27 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-8275	5502.98 ms	16 - 26 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	3423.552 ms	16 - 27 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA8650P	3423.552 ms	16 - 27 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA8255P	3423.552 ms	16 - 27 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-X7181	3538.176 ms	17 - 17 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ Q-8750	2535.426 ms	17 - 31 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	5502.98 ms	16 - 26 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	2535.426 ms	17 - 31 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	2270.647 ms	5 - 14 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	7.849 ms	18 - 18 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	11.774 ms	18 - 18 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	9.246 ms	32 - 39 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	11.774 ms	18 - 18 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ Q-8750	7.821 ms	13 - 20 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	7.821 ms	13 - 20 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	6.808 ms	15 - 22 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® X2 Elite	8.489 ms	19 - 19 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® X Elite	12.034 ms	19 - 19 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	9.289 ms	19 - 26 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-8275	25.315 ms	18 - 27 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	15.152 ms	18 - 27 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA8650P	15.152 ms	18 - 27 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA8255P	15.152 ms	18 - 27 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-X7181	12.034 ms	19 - 19 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ Q-8750	7.665 ms	17 - 30 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	25.315 ms	18 - 27 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	7.665 ms	17 - 30 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	6.775 ms	16 - 25 MB	NPU

License

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

References

Community

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Paper for qualcomm/BEVFusion

BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation

Paper • 2205.13542 • Published May 26, 2022