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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 7.039 ms 22 - 22 MB NPU
decoder PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 13.035 ms 24 - 24 MB NPU
decoder PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 9.797 ms 17 - 25 MB NPU
decoder PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 13.035 ms 24 - 24 MB NPU
decoder PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 7.795 ms 10 - 21 MB NPU
decoder PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 7.795 ms 10 - 21 MB NPU
decoder PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 5.853 ms 12 - 19 MB NPU
decoder QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 7.452 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 9.785 ms 5 - 13 MB NPU
decoder QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 92.803 ms 2 - 11 MB NPU
decoder QNN_CONTEXT_BINARY float Qualcomm® SA8775P 23.773 ms 1 - 11 MB NPU
decoder QNN_CONTEXT_BINARY float Qualcomm® SA8650P 23.773 ms 1 - 11 MB NPU
decoder QNN_CONTEXT_BINARY float Qualcomm® SA8255P 23.773 ms 1 - 11 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 7.753 ms 5 - 18 MB NPU
decoder QNN_CONTEXT_BINARY float Qualcomm® SA7255P 92.803 ms 2 - 11 MB NPU
decoder QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 7.753 ms 5 - 18 MB NPU
decoder QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 5.856 ms 5 - 14 MB NPU
encoder_1 PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 385.627 ms 66 - 66 MB NPU
encoder_1 PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 703.001 ms 96 - 96 MB NPU
encoder_1 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 527.67 ms 32 - 44 MB NPU
encoder_1 PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 703.001 ms 96 - 96 MB NPU
encoder_1 PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 439.344 ms 38 - 51 MB NPU
encoder_1 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 439.344 ms 38 - 51 MB NPU
encoder_1 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 354.758 ms 39 - 51 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 386.846 ms 12 - 12 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Snapdragon® X Elite 681.099 ms 12 - 12 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 522.996 ms 13 - 20 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 1074.397 ms 1 - 10 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Qualcomm® SA8775P 719.816 ms 1 - 10 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Qualcomm® SA8650P 719.816 ms 1 - 10 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Qualcomm® SA8255P 719.816 ms 1 - 10 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 681.099 ms 12 - 12 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 440.415 ms 12 - 22 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Qualcomm® SA7255P 1074.397 ms 1 - 10 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 440.415 ms 12 - 22 MB NPU
encoder_1 QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 353.204 ms 1 - 10 MB NPU
encoder_2 PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 2440.591 ms 1058 - 1058 MB NPU
encoder_2 PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 3513.444 ms 1058 - 1058 MB NPU
encoder_2 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 2764.452 ms 603 - 609 MB NPU
encoder_2 PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 3513.444 ms 1058 - 1058 MB NPU
encoder_2 PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 2557.109 ms 572 - 580 MB NPU
encoder_2 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 2557.109 ms 572 - 580 MB NPU
encoder_2 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 2290.709 ms 454 - 461 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 2433.074 ms 17 - 17 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Snapdragon® X Elite 3432.657 ms 17 - 17 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 2890.192 ms 17 - 29 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 5507.939 ms 15 - 24 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Qualcomm® SA8775P 3441.107 ms 1 - 12 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Qualcomm® SA8650P 3441.107 ms 1 - 12 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Qualcomm® SA8255P 3441.107 ms 1 - 12 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 3432.657 ms 17 - 17 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 2551.968 ms 6 - 15 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Qualcomm® SA7255P 5507.939 ms 15 - 24 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 2551.968 ms 6 - 15 MB NPU
encoder_2 QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 2271.59 ms 24 - 34 MB NPU
encoder_3 PRECOMPILED_QNN_ONNX float Snapdragon® X2 Elite 7.894 ms 18 - 18 MB NPU
encoder_3 PRECOMPILED_QNN_ONNX float Snapdragon® X Elite 11.681 ms 19 - 19 MB NPU
encoder_3 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Gen 3 Mobile 9.118 ms 30 - 37 MB NPU
encoder_3 PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ IQ-X7181 11.681 ms 19 - 19 MB NPU
encoder_3 PRECOMPILED_QNN_ONNX float Qualcomm® Dragonwing™ Q-8750 7.825 ms 11 - 19 MB NPU
encoder_3 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Mobile 7.825 ms 11 - 19 MB NPU
encoder_3 PRECOMPILED_QNN_ONNX float Snapdragon® 8 Elite Gen 5 Mobile 6.758 ms 11 - 19 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Snapdragon® X2 Elite 8.55 ms 19 - 19 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Snapdragon® X Elite 12.265 ms 19 - 19 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Snapdragon® 8 Gen 3 Mobile 9.199 ms 19 - 26 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-8275 25.314 ms 18 - 26 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Qualcomm® SA8775P 15.182 ms 18 - 28 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Qualcomm® SA8650P 15.182 ms 18 - 28 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Qualcomm® SA8255P 15.182 ms 18 - 28 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ IQ-X7181 12.265 ms 19 - 19 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Qualcomm® Dragonwing™ Q-8750 7.779 ms 14 - 23 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Qualcomm® SA7255P 25.314 ms 18 - 26 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Mobile 7.779 ms 14 - 23 MB NPU
encoder_3 QNN_CONTEXT_BINARY float Snapdragon® 8 Elite Gen 5 Mobile 6.754 ms 13 - 21 MB NPU

License

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

References

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Paper for qualcomm/BEVFusion