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:

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

Performance Summary

Model	Runtime	Precision	Chipset	Inference Time (ms)	Peak Memory Range (MB)	Primary Compute Unit
decoder	ONNX	float	Snapdragon® X2 Elite	6.414 ms	4 - 4 MB	NPU
decoder	ONNX	float	Snapdragon® X Elite	12.433 ms	34 - 34 MB	NPU
decoder	ONNX	float	Snapdragon® 8 Gen 3 Mobile	8.829 ms	0 - 173 MB	NPU
decoder	ONNX	float	Snapdragon® 8 Gen 1 Mobile	23.478 ms	0 - 170 MB	NPU
decoder	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	11.965 ms	0 - 190 MB	NPU
decoder	ONNX	float	Qualcomm® QCS8450	23.478 ms	0 - 170 MB	NPU
decoder	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	23.694 ms	4 - 10 MB	NPU
decoder	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	12.433 ms	34 - 34 MB	NPU
decoder	ONNX	float	Qualcomm® Dragonwing™ Q-8750	7.63 ms	3 - 150 MB	NPU
decoder	ONNX	float	Snapdragon® 8 Elite Mobile	7.63 ms	3 - 150 MB	NPU
decoder	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	5.569 ms	3 - 155 MB	NPU
decoder	QNN_DLC	float	Snapdragon® X2 Elite	6.783 ms	4 - 4 MB	NPU
decoder	QNN_DLC	float	Snapdragon® X Elite	12.525 ms	4 - 4 MB	NPU
decoder	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	8.808 ms	0 - 170 MB	NPU
decoder	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	23.259 ms	0 - 170 MB	NPU
decoder	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8275	87.632 ms	2 - 145 MB	NPU
decoder	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	11.884 ms	4 - 6 MB	NPU
decoder	QNN_DLC	float	Qualcomm® SA8775P	23.126 ms	1 - 149 MB	NPU
decoder	QNN_DLC	float	Qualcomm® SA8650P	23.126 ms	1 - 149 MB	NPU
decoder	QNN_DLC	float	Qualcomm® SA8255P	23.126 ms	1 - 149 MB	NPU
decoder	QNN_DLC	float	Qualcomm® QCS8450	23.259 ms	0 - 170 MB	NPU
decoder	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	23.436 ms	6 - 13 MB	NPU
decoder	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	12.525 ms	4 - 4 MB	NPU
decoder	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	7.585 ms	0 - 146 MB	NPU
decoder	QNN_DLC	float	Qualcomm® SA7255P	87.632 ms	2 - 145 MB	NPU
decoder	QNN_DLC	float	Qualcomm® SA8295P	25.559 ms	2 - 144 MB	NPU
decoder	QNN_DLC	float	Snapdragon® 8 Elite Mobile	7.585 ms	0 - 146 MB	NPU
decoder	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	5.57 ms	4 - 154 MB	NPU
decoder	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	8.814 ms	1 - 203 MB	NPU
decoder	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	23.352 ms	1 - 206 MB	NPU
decoder	TFLITE	float	Qualcomm® Dragonwing™ QCS8275	87.579 ms	2 - 149 MB	NPU
decoder	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	11.951 ms	1 - 3 MB	NPU
decoder	TFLITE	float	Qualcomm® SA8775P	23.142 ms	1 - 153 MB	NPU
decoder	TFLITE	float	Qualcomm® SA8650P	23.142 ms	1 - 153 MB	NPU
decoder	TFLITE	float	Qualcomm® SA8255P	23.142 ms	1 - 153 MB	NPU
decoder	TFLITE	float	Qualcomm® QCS8450	23.352 ms	1 - 206 MB	NPU
decoder	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	23.632 ms	0 - 44 MB	NPU
decoder	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	7.604 ms	0 - 151 MB	NPU
decoder	TFLITE	float	Qualcomm® SA7255P	87.579 ms	2 - 149 MB	NPU
decoder	TFLITE	float	Qualcomm® SA8295P	25.522 ms	1 - 146 MB	NPU
decoder	TFLITE	float	Snapdragon® 8 Elite Mobile	7.604 ms	0 - 151 MB	NPU
decoder	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	5.547 ms	1 - 152 MB	NPU
encoder	ONNX	float	Snapdragon® X2 Elite	21.086 ms	12 - 12 MB	NPU
encoder	ONNX	float	Snapdragon® X Elite	39.992 ms	40 - 40 MB	NPU
encoder	ONNX	float	Snapdragon® 8 Gen 3 Mobile	30.749 ms	2 - 419 MB	NPU
encoder	ONNX	float	Snapdragon® 8 Gen 1 Mobile	70.927 ms	1 - 328 MB	NPU
encoder	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	40.446 ms	0 - 45 MB	NPU
encoder	ONNX	float	Qualcomm® QCS8450	70.927 ms	1 - 328 MB	NPU
encoder	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	66.703 ms	12 - 28 MB	NPU
encoder	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	39.992 ms	40 - 40 MB	NPU
encoder	ONNX	float	Qualcomm® Dragonwing™ Q-8750	25.191 ms	5 - 326 MB	NPU
encoder	ONNX	float	Snapdragon® 8 Elite Mobile	25.191 ms	5 - 326 MB	NPU
encoder	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	18.329 ms	4 - 334 MB	NPU
encoder	QNN_DLC	float	Snapdragon® X2 Elite	20.596 ms	12 - 12 MB	NPU
encoder	QNN_DLC	float	Snapdragon® X Elite	40.278 ms	12 - 12 MB	NPU
encoder	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	30.737 ms	12 - 421 MB	NPU
encoder	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	70.707 ms	2 - 326 MB	NPU
encoder	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8275	208.802 ms	1 - 315 MB	NPU
encoder	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	40.977 ms	12 - 577 MB	NPU
encoder	QNN_DLC	float	Qualcomm® SA8775P	62.539 ms	1 - 311 MB	NPU
encoder	QNN_DLC	float	Qualcomm® SA8650P	62.539 ms	1 - 311 MB	NPU
encoder	QNN_DLC	float	Qualcomm® SA8255P	62.539 ms	1 - 311 MB	NPU
encoder	QNN_DLC	float	Qualcomm® QCS8450	70.707 ms	2 - 326 MB	NPU
encoder	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	62.965 ms	12 - 28 MB	NPU
encoder	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	40.278 ms	12 - 12 MB	NPU
encoder	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	25.277 ms	0 - 315 MB	NPU
encoder	QNN_DLC	float	Qualcomm® SA7255P	208.802 ms	1 - 315 MB	NPU
encoder	QNN_DLC	float	Qualcomm® SA8295P	62.603 ms	0 - 226 MB	NPU
encoder	QNN_DLC	float	Snapdragon® 8 Elite Mobile	25.277 ms	0 - 315 MB	NPU
encoder	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	18.285 ms	12 - 338 MB	NPU
encoder	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	33.359 ms	1 - 454 MB	NPU
encoder	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	70.639 ms	2 - 366 MB	NPU
encoder	TFLITE	float	Qualcomm® Dragonwing™ QCS8275	202.586 ms	2 - 327 MB	NPU
encoder	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	38.942 ms	2 - 5 MB	NPU
encoder	TFLITE	float	Qualcomm® SA8775P	59.601 ms	2 - 327 MB	NPU
encoder	TFLITE	float	Qualcomm® SA8650P	59.601 ms	2 - 327 MB	NPU
encoder	TFLITE	float	Qualcomm® SA8255P	59.601 ms	2 - 327 MB	NPU
encoder	TFLITE	float	Qualcomm® QCS8450	70.639 ms	2 - 366 MB	NPU
encoder	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	60.404 ms	0 - 66 MB	NPU
encoder	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	25.399 ms	1 - 340 MB	NPU
encoder	TFLITE	float	Qualcomm® SA7255P	202.586 ms	2 - 327 MB	NPU
encoder	TFLITE	float	Qualcomm® SA8295P	62.662 ms	2 - 252 MB	NPU
encoder	TFLITE	float	Snapdragon® 8 Elite Mobile	25.399 ms	1 - 340 MB	NPU
encoder	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	19.309 ms	2 - 351 MB	NPU
pooler	ONNX	float	Snapdragon® X2 Elite	21.694 ms	535 - 535 MB	CPU
pooler	ONNX	float	Snapdragon® X Elite	111.062 ms	534 - 534 MB	CPU
pooler	ONNX	float	Snapdragon® 8 Gen 3 Mobile	28.212 ms	334 - 342 MB	CPU
pooler	ONNX	float	Snapdragon® 8 Gen 1 Mobile	40.059 ms	324 - 339 MB	CPU
pooler	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	31.035 ms	327 - 329 MB	CPU
pooler	ONNX	float	Qualcomm® QCS8450	40.059 ms	324 - 339 MB	CPU
pooler	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	56.799 ms	330 - 334 MB	CPU
pooler	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	111.062 ms	534 - 534 MB	CPU
pooler	ONNX	float	Qualcomm® Dragonwing™ Q-8750	28.814 ms	327 - 336 MB	CPU
pooler	ONNX	float	Snapdragon® 8 Elite Mobile	28.814 ms	327 - 336 MB	CPU
pooler	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	22.744 ms	332 - 340 MB	CPU
pooler	QNN_DLC	float	Snapdragon® X2 Elite	312.758 ms	3 - 3 MB	CPU
pooler	QNN_DLC	float	Snapdragon® X Elite	343.215 ms	3 - 3 MB	CPU
pooler	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	155.796 ms	3 - 14 MB	CPU
pooler	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	201.461 ms	2 - 19 MB	CPU
pooler	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8275	368.843 ms	3 - 16 MB	CPU
pooler	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	175.362 ms	4 - 7 MB	CPU
pooler	QNN_DLC	float	Qualcomm® SA8775P	320.679 ms	4 - 16 MB	CPU
pooler	QNN_DLC	float	Qualcomm® SA8650P	320.679 ms	4 - 16 MB	CPU
pooler	QNN_DLC	float	Qualcomm® SA8255P	320.679 ms	4 - 16 MB	CPU
pooler	QNN_DLC	float	Qualcomm® QCS8450	201.461 ms	2 - 19 MB	CPU
pooler	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	332.407 ms	270 - 741 MB	CPU
pooler	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	343.215 ms	3 - 3 MB	CPU
pooler	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	177.66 ms	4 - 13 MB	CPU
pooler	QNN_DLC	float	Qualcomm® SA7255P	368.843 ms	3 - 16 MB	CPU
pooler	QNN_DLC	float	Qualcomm® SA8295P	308.142 ms	4 - 16 MB	CPU
pooler	QNN_DLC	float	Snapdragon® 8 Elite Mobile	177.66 ms	4 - 13 MB	CPU
pooler	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	214.683 ms	4 - 14 MB	CPU
pooler	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	55.944 ms	126 - 139 MB	CPU
pooler	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	90.138 ms	127 - 142 MB	CPU
pooler	TFLITE	float	Qualcomm® Dragonwing™ QCS8275	123.543 ms	109 - 118 MB	CPU
pooler	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	74.295 ms	128 - 130 MB	CPU
pooler	TFLITE	float	Qualcomm® SA8775P	106.547 ms	129 - 134 MB	CPU
pooler	TFLITE	float	Qualcomm® SA8650P	106.547 ms	129 - 134 MB	CPU
pooler	TFLITE	float	Qualcomm® SA8255P	106.547 ms	129 - 134 MB	CPU
pooler	TFLITE	float	Qualcomm® QCS8450	90.138 ms	127 - 142 MB	CPU
pooler	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	107.311 ms	127 - 320 MB	CPU
pooler	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	60.715 ms	126 - 140 MB	CPU
pooler	TFLITE	float	Qualcomm® SA7255P	123.543 ms	109 - 118 MB	CPU
pooler	TFLITE	float	Qualcomm® SA8295P	107.144 ms	128 - 133 MB	CPU
pooler	TFLITE	float	Snapdragon® 8 Elite Mobile	60.715 ms	126 - 140 MB	CPU
pooler	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	53.035 ms	127 - 139 MB	CPU

License

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

References

Community

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Paper for qualcomm/BEVDet

BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View

Paper • 2112.11790 • Published Dec 22, 2021