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	Snapdragon® 8 Gen 1 Mobile	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, ONNX Runtime 1.27.1	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	Snapdragon® 8 Gen 1 Mobile	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	Qualcomm® SA8295P	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:

Model checkpoint: camera-only-det.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	PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	7.058 ms	22 - 22 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	13.132 ms	24 - 24 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	9.805 ms	15 - 21 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-9075	23.875 ms	14 - 17 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	13.132 ms	24 - 24 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ Q-8750	7.75 ms	12 - 23 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	7.75 ms	12 - 23 MB	NPU
decoder	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	5.847 ms	12 - 21 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	13.299 ms	5 - 5 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	9.765 ms	5 - 12 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ QCS8275	92.825 ms	1 - 9 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	23.77 ms	1 - 7 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA8650P	23.77 ms	1 - 7 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA8255P	23.77 ms	1 - 7 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-9075	23.8 ms	5 - 16 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-X7181	13.299 ms	5 - 5 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ Q-8750	7.683 ms	0 - 13 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	92.825 ms	1 - 9 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Qualcomm® SA8295P	26.042 ms	3 - 9 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	7.683 ms	0 - 13 MB	NPU
decoder	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	5.857 ms	5 - 14 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	387.616 ms	66 - 66 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	702.011 ms	95 - 95 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	522.888 ms	48 - 59 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-9075	704.454 ms	12 - 27 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	702.011 ms	95 - 95 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ Q-8750	441.914 ms	39 - 51 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	441.914 ms	39 - 51 MB	NPU
encoder_1	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	354.626 ms	37 - 50 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® X2 Elite	386.886 ms	12 - 12 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® X Elite	680.764 ms	12 - 12 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	522.087 ms	13 - 20 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ QCS8275	1072.306 ms	1 - 10 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	720.832 ms	0 - 9 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA8650P	720.832 ms	0 - 9 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA8255P	720.832 ms	0 - 9 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-9075	704.672 ms	12 - 43 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-X7181	680.764 ms	12 - 12 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ Q-8750	437.709 ms	12 - 25 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	1072.306 ms	1 - 10 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Qualcomm® SA8295P	815.58 ms	2 - 7 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	437.709 ms	12 - 25 MB	NPU
encoder_1	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	353.355 ms	12 - 21 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	2338.207 ms	1058 - 1058 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	3425.657 ms	1058 - 1058 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	2782.685 ms	515 - 523 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-9075	3415.905 ms	349 - 351 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	3425.657 ms	1058 - 1058 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ Q-8750	2442.465 ms	430 - 441 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	2442.465 ms	430 - 441 MB	NPU
encoder_2	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	2166.846 ms	426 - 433 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® X2 Elite	2339.692 ms	17 - 17 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® X Elite	3499.553 ms	17 - 17 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	2751.19 ms	17 - 31 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ QCS8275	5464.042 ms	16 - 25 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	3379.014 ms	17 - 27 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA8650P	3379.014 ms	17 - 27 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA8255P	3379.014 ms	17 - 27 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-9075	3415.334 ms	17 - 644 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-X7181	3499.553 ms	17 - 17 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ Q-8750	2448.897 ms	5 - 17 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	5464.042 ms	16 - 25 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Qualcomm® SA8295P	3686.792 ms	1 - 11 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	2448.897 ms	5 - 17 MB	NPU
encoder_2	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	2156.726 ms	7 - 20 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® X2 Elite	7.932 ms	18 - 18 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® X Elite	11.76 ms	18 - 18 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Gen 3 Mobile	9.166 ms	33 - 40 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-9075	15.338 ms	18 - 39 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	11.76 ms	18 - 18 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Qualcomm® Dragonwing™ Q-8750	7.718 ms	13 - 24 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Mobile	7.718 ms	13 - 24 MB	NPU
encoder_3	PRECOMPILED_QNN_ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	6.79 ms	14 - 21 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® X2 Elite	8.455 ms	19 - 19 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® X Elite	12.22 ms	19 - 19 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Gen 3 Mobile	9.128 ms	19 - 26 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ QCS8275	25.378 ms	18 - 27 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA8775P	15.129 ms	18 - 28 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA8650P	15.129 ms	18 - 28 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA8255P	15.129 ms	18 - 28 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-9075	16.206 ms	18 - 43 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ IQ-X7181	12.22 ms	19 - 19 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® Dragonwing™ Q-8750	7.677 ms	17 - 30 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA7255P	25.378 ms	18 - 27 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Qualcomm® SA8295P	14.877 ms	1 - 6 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Mobile	7.677 ms	17 - 30 MB	NPU
encoder_3	QNN_CONTEXT_BINARY	float	Snapdragon® 8 Elite Gen 5 Mobile	6.764 ms	17 - 26 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