CVT: Optimized for Qualcomm Devices

Cross-View Transformer generates real-time bird's-eye view maps from multiple vehicle cameras for autonomous driving.

This is based on the implementation of CVT 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 2.50, ONNX Runtime 1.27.1	Download
ONNX	w8a16_mixed_int16	Universal	QAIRT 2.50, ONNX Runtime 1.27.1	Download
QNN_DLC	float	Universal	QAIRT 2.50	Download
QNN_DLC	w8a16_mixed_int16	Universal	QAIRT 2.50	Download
TFLITE	float	Universal	QAIRT 2.50	Download

For more device-specific assets and performance metrics, visit CVT 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 CVT on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.driver_assistance

Model Stats:

• Inference latency: RealTime
• Input resolution: 1x6x3x224x480
• Model checkpoint: vehicles_50k.pt
• Model size (float): 5.18 MB
• Number of parameters: 1.33M

Performance Summary

Model	Runtime	Precision	Chipset	Inference Time (ms)	Peak Memory Range (MB)	Primary Compute Unit
CVT	ONNX	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	163.675 ms	0 - 2161 MB	NPU
CVT	ONNX	float	Snapdragon® 8 Elite For Galaxy Mobile	186.429 ms	3 - 2191 MB	NPU
CVT	ONNX	float	Snapdragon® X2 Elite	176.585 ms	8 - 8 MB	NPU
CVT	ONNX	float	Snapdragon® X Elite	277.166 ms	18 - 18 MB	NPU
CVT	ONNX	float	Snapdragon® 8 Gen 3 Mobile	228.617 ms	8 - 2450 MB	NPU
CVT	ONNX	float	Snapdragon® 8 Gen 1 Mobile	375.064 ms	8 - 2644 MB	NPU
CVT	ONNX	float	Qualcomm® Dragonwing™ IQ-8275	255.006 ms	7 - 11 MB	NPU
CVT	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	332.116 ms	0 - 20 MB	NPU
CVT	ONNX	float	Qualcomm® QCS8450	375.064 ms	8 - 2644 MB	NPU
CVT	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	288.244 ms	7 - 11 MB	NPU
CVT	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	277.166 ms	18 - 18 MB	NPU
CVT	ONNX	float	Qualcomm® Dragonwing™ Q-8750	186.429 ms	3 - 2191 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	184.048 ms	2 - 2340 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Snapdragon® 8 Elite For Galaxy Mobile	203.359 ms	1 - 2285 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Snapdragon® X2 Elite	198.277 ms	4 - 4 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Snapdragon® X Elite	300.413 ms	22 - 22 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Snapdragon® 8 Gen 3 Mobile	237.811 ms	4 - 2546 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Snapdragon® 8 Gen 1 Mobile	350.962 ms	4 - 2547 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Qualcomm® Dragonwing™ IQ-8275	273.221 ms	4 - 8 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Qualcomm® Dragonwing™ QCS8550 (Proxy)	329.629 ms	0 - 28 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Qualcomm® QCS8450	350.962 ms	4 - 2547 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Qualcomm® Dragonwing™ IQ-9075	297.181 ms	4 - 7 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Qualcomm® Dragonwing™ IQ-X7181	300.413 ms	22 - 22 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Qualcomm® Dragonwing™ Q-7790	1359.819 ms	67 - 837 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Qualcomm® Dragonwing™ Q-8750	203.359 ms	1 - 2285 MB	NPU
CVT	ONNX	w8a16_mixed_int16	Snapdragon® 7 Gen 4 Mobile	1359.819 ms	67 - 837 MB	NPU
CVT	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	161.307 ms	7 - 2196 MB	NPU
CVT	QNN_DLC	float	Snapdragon® 8 Elite For Galaxy Mobile	182.255 ms	7 - 2079 MB	NPU
CVT	QNN_DLC	float	Snapdragon® X2 Elite	171.773 ms	7 - 7 MB	NPU
CVT	QNN_DLC	float	Snapdragon® X Elite	267.308 ms	7 - 7 MB	NPU
CVT	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	218.891 ms	4 - 2462 MB	NPU
CVT	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	367.333 ms	7 - 2609 MB	NPU
CVT	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-8275	250.569 ms	7 - 18 MB	NPU
CVT	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	316.406 ms	7 - 12 MB	NPU
CVT	QNN_DLC	float	Qualcomm® SA8650P	292.089 ms	2 - 2213 MB	NPU
CVT	QNN_DLC	float	Qualcomm® SA8255P	292.089 ms	2 - 2213 MB	NPU
CVT	QNN_DLC	float	Qualcomm® QCS8450	367.333 ms	7 - 2609 MB	NPU
CVT	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	282.635 ms	9 - 19 MB	NPU
CVT	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	267.308 ms	7 - 7 MB	NPU
CVT	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	182.255 ms	7 - 2079 MB	NPU
CVT	QNN_DLC	float	Qualcomm® SA8295P	322.33 ms	1 - 2252 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	186.039 ms	4 - 2270 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Snapdragon® 8 Elite For Galaxy Mobile	205.322 ms	4 - 2255 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Snapdragon® X2 Elite	200.781 ms	4 - 4 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Snapdragon® X Elite	314.076 ms	4 - 4 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Snapdragon® 8 Gen 3 Mobile	242.848 ms	256 - 2737 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Qualcomm® Dragonwing™ IQ-8275	278.091 ms	4 - 10 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Qualcomm® Dragonwing™ QCS8550 (Proxy)	343.237 ms	4 - 7 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Qualcomm® Dragonwing™ IQ-9075	304.176 ms	6 - 12 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Qualcomm® Dragonwing™ IQ-X7181	314.076 ms	4 - 4 MB	NPU
CVT	QNN_DLC	w8a16_mixed_int16	Qualcomm® Dragonwing™ Q-8750	205.322 ms	4 - 2255 MB	NPU
CVT	TFLITE	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	162.301 ms	0 - 2197 MB	NPU
CVT	TFLITE	float	Snapdragon® 8 Elite For Galaxy Mobile	180.846 ms	0 - 2096 MB	NPU
CVT	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	219.005 ms	0 - 2500 MB	NPU
CVT	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	333.709 ms	0 - 2642 MB	NPU
CVT	TFLITE	float	Qualcomm® Dragonwing™ IQ-8275	247.067 ms	0 - 34 MB	NPU
CVT	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	317.075 ms	0 - 4 MB	NPU
CVT	TFLITE	float	Qualcomm® QCS8450	333.709 ms	0 - 2642 MB	NPU
CVT	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	279.426 ms	0 - 34 MB	NPU
CVT	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	180.846 ms	0 - 2096 MB	NPU
CVT	TFLITE	float	Qualcomm® SA8295P	315.886 ms	1 - 2264 MB	NPU

License

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

References

• Cross-view Transformers for real-time Map-view Semantic Segmentation
• Source Model Implementation

Community

• Join our AI Hub Slack community to collaborate, post questions and learn more about on-device AI.
• For questions or feedback please reach out to us.