README.md

---
library_name: pytorch
license: other
tags:
- android
pipeline_tag: other

---

![](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/web-assets/model_demo.png)

# GKT: Optimized for Qualcomm Devices

Geometry-guided Kernel Transformer 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 GKT found [here](https://github.com/hustvl/GKT/ https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/Qualcomm+AI+Hub+Proprietary+License.pdf).
This repository contains pre-exported model files optimized for Qualcomm® devices. You can use the [Qualcomm® AI Hub Models](https://github.com/quic/ai-hub-models/blob/main/qai_hub_models/models/gkt) library to export with custom configurations. More details on model performance across various devices, can be found [here](#performance-summary).

Qualcomm AI Hub Models uses [Qualcomm AI Hub Workbench](https://workbench.aihub.qualcomm.com) to compile, profile, and evaluate this model. [Sign up](https://myaccount.qualcomm.com/signup) 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® X Elite | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-float-qualcomm_snapdragon_x_elite.zip)
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-float-qualcomm_snapdragon_8gen3.zip)
| PRECOMPILED_QNN_ONNX | float | Qualcomm® QCS8550 (Proxy) | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-float-qualcomm_qcs8550_proxy.zip)
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite For Galaxy Mobile | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-float-qualcomm_snapdragon_8_elite_for_galaxy.zip)
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-float-qualcomm_snapdragon_8_elite_gen5.zip)
| PRECOMPILED_QNN_ONNX | float | Qualcomm® QCS9075 | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-float-qualcomm_qcs9075.zip)
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® X Elite | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-w8a16_mixed_fp16-qualcomm_snapdragon_x_elite.zip)
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-w8a16_mixed_fp16-qualcomm_snapdragon_8gen3.zip)
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-w8a16_mixed_fp16-qualcomm_qcs8550_proxy.zip)
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-w8a16_mixed_fp16-qualcomm_snapdragon_8_elite_for_galaxy.zip)
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-w8a16_mixed_fp16-qualcomm_snapdragon_8_elite_gen5.zip)
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Qualcomm® QCS9075 | QAIRT 2.37, ONNX Runtime 1.23.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-precompiled_qnn_onnx-w8a16_mixed_fp16-qualcomm_qcs9075.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_snapdragon_x_elite.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_snapdragon_8gen3.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® QCS8275 (Proxy) | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_qcs8275_proxy.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® QCS8550 (Proxy) | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_qcs8550_proxy.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_sa8775p.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite For Galaxy Mobile | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_snapdragon_8_elite_for_galaxy.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_snapdragon_8_elite_gen5.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_sa7255p.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® SA8295P | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_sa8295p.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® QCS9075 | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_qcs9075.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® QCS8450 (Proxy) | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-float-qualcomm_qcs8450_proxy.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® X Elite | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_snapdragon_x_elite.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_snapdragon_8gen3.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8275 (Proxy) | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_qcs8275_proxy.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_qcs8550_proxy.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA8775P | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_sa8775p.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_snapdragon_8_elite_for_galaxy.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_snapdragon_8_elite_gen5.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA7255P | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_sa7255p.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA8295P | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_sa8295p.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS9075 | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_qcs9075.zip)
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8450 (Proxy) | QAIRT 2.42 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/gkt/releases/v0.46.0/gkt-qnn_context_binary-w8a16_mixed_fp16-qualcomm_qcs8450_proxy.zip)

For more device-specific assets and performance metrics, visit **[GKT on Qualcomm® AI Hub](https://aihub.qualcomm.com/models/gkt)**.


### Option 2: Export with Custom Configurations

Use the [Qualcomm® AI Hub Models](https://github.com/quic/ai-hub-models/blob/main/qai_hub_models/models/gkt) 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 [GKT on GitHub](https://github.com/quic/ai-hub-models/blob/main/qai_hub_models/models/gkt) for usage instructions.

## Model Details

**Model Type:** Model_use_case.driver_assistance

**Model Stats:**
- Model checkpoint: map_segmentation_gkt_7x1_conv_setting2.ckpt
- Input resolution: 1 x 6 x 3 x 224 x 480
- Number of parameters: 1.18M
- Model size: 4.66 MB

## Performance Summary
| Model | Runtime | Precision | Chipset | Inference Time (ms) | Peak Memory Range (MB) | Primary Compute Unit
|---|---|---|---|---|---|---
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® X Elite | 77.549 ms | 7 - 7 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | 56.522 ms | 8 - 15 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | float | Qualcomm® QCS8550 (Proxy) | 81.44 ms | 8 - 19 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | float | Qualcomm® QCS9075 | 83.044 ms | 7 - 10 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite For Galaxy Mobile | 51.556 ms | 2 - 10 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 38.135 ms | 8 - 18 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® X Elite | 130.45 ms | 7 - 7 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | 95.525 ms | 6 - 14 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | 129.902 ms | 1 - 10 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Qualcomm® QCS9075 | 132.041 ms | 4 - 6 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | 83.007 ms | 0 - 12 MB | NPU
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | 71.133 ms | 4 - 15 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | 105.686 ms | 7 - 7 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | 77.938 ms | 8 - 15 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® QCS8275 (Proxy) | 188.21 ms | 0 - 8 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® QCS8550 (Proxy) | 110.633 ms | 8 - 9 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | 110.755 ms | 0 - 6 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® QCS9075 | 109.963 ms | 7 - 17 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® QCS8450 (Proxy) | 204.587 ms | 8 - 16 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | 188.21 ms | 0 - 8 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® SA8295P | 140.428 ms | 0 - 6 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite For Galaxy Mobile | 71.057 ms | 0 - 9 MB | NPU
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | 57.265 ms | 7 - 17 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® X Elite | 128.698 ms | 4 - 4 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | 94.5 ms | 4 - 11 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8275 (Proxy) | 192.408 ms | 1 - 8 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | 127.219 ms | 5 - 6 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA8775P | 129.389 ms | 0 - 6 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS9075 | 129.942 ms | 2 - 7 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8450 (Proxy) | 138.637 ms | 4 - 13 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA7255P | 192.408 ms | 1 - 8 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA8295P | 153.11 ms | 0 - 6 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | 80.584 ms | 0 - 13 MB | NPU
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | 69.942 ms | 4 - 13 MB | NPU

## License
* The license for the original implementation of GKT can be found
  [here](https://github.com/hustvl/GKT/blob/main/LICENSE).

## References
* [Efficient and Robust 2D-to-BEV Representation Learning via Geometry-guided Kernel Transformer](https://arxiv.org/abs/2206.04584)
* [Source Model Implementation](https://github.com/hustvl/GKT/ https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/Qualcomm+AI+Hub+Proprietary+License.pdf)

## Community
* Join [our AI Hub Slack community](https://aihub.qualcomm.com/community/slack) to collaborate, post questions and learn more about on-device AI.
* For questions or feedback please [reach out to us](mailto:ai-hub-support@qti.qualcomm.com).