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3D-Deep-BOX

Object Detection
PyTorch
real_time
android
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3D-Deep-BOX: Optimized for Qualcomm Devices

3D Deep Box is a machine learning model that predicts 3D bounding boxes and classes of objects in an image.

This is based on the implementation of 3D-Deep-BOX 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 1.30.0 Download
ONNX w8a16 Universal QAIRT 2.50, ONNX Runtime 1.30.0 Download
QNN_DLC float Universal QAIRT 2.50 Download
QNN_DLC w8a16 Universal QAIRT 2.50 Download
TFLITE float Universal QAIRT 2.50 Download

For more device-specific assets and performance metrics, visit 3D-Deep-BOX 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 3D-Deep-BOX on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.object_detection

Model Stats:

  • 2D detector: COCO-pretrained YOLOv3 (paper uses KITTI-trained MS-CNN)
  • Accuracy (2D AP E/M/H): ~73/59/45 (COCO YOLOv3) vs 92.98/89.04/77.17 (paper MS-CNN). Gap is due to the 2D detector only; VGG 3D head weights are identical to the paper.
  • Input resolution(VGG): 224x224
  • Input resolution(YOLO): 416x416
  • Model checkpoint: YOLOv3
  • Model size (vgg_3d_detection) (float): 176 MB
  • Model size (yolo_2d_detection) (float): 236 MB
  • Number of parameters (vgg_3d_detection): 46.1M
  • Number of parameters (yolo_2d_detection): 61.9M

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
vgg_3d_detection ONNX float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 2.538 ms 0 - 198 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Elite For Galaxy Mobile 3.121 ms 0 - 198 MB NPU
vgg_3d_detection ONNX float Snapdragon® X2 Elite 2.608 ms 2 - 2 MB NPU
vgg_3d_detection ONNX float Snapdragon® X Elite 4.821 ms 88 - 88 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 3.692 ms 0 - 274 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 8.424 ms 0 - 205 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 9.945 ms 0 - 5 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 4.826 ms 0 - 122 MB NPU
vgg_3d_detection ONNX float Qualcomm® QCS8450 8.424 ms 0 - 205 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 8.77 ms 1 - 4 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 4.821 ms 88 - 88 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 3.121 ms 0 - 198 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 1.383 ms 0 - 57 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite For Galaxy Mobile 1.701 ms 0 - 61 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X2 Elite 1.644 ms 1 - 1 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X Elite 2.735 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 2.08 ms 0 - 103 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 3.234 ms 0 - 103 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 1121.794 ms 0 - 4 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 3.305 ms 0 - 4 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 2.726 ms 0 - 213 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® QCS8450 3.234 ms 0 - 103 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 2.824 ms 0 - 4 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.735 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1886.427 ms 0 - 196 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 5.225 ms 0 - 190 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 1.701 ms 0 - 61 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 5.225 ms 0 - 190 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 2.525 ms 1 - 199 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite For Galaxy Mobile 3.156 ms 0 - 196 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X2 Elite 2.777 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X Elite 5.126 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 3.918 ms 0 - 270 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 8.652 ms 0 - 204 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 10.136 ms 1 - 4 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.021 ms 1 - 2 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8650P 9.26 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8255P 9.26 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® QCS8450 8.652 ms 0 - 204 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 9.012 ms 1 - 3 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 5.126 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 3.156 ms 0 - 196 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8295P 10.271 ms 1 - 185 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 1.387 ms 0 - 56 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite For Galaxy Mobile 1.685 ms 0 - 55 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 1.761 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X Elite 2.885 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 2.102 ms 0 - 96 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 3.594 ms 0 - 102 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 1102.399 ms 0 - 3 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 3.263 ms 0 - 3 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 2.7 ms 0 - 2 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8650P 2.959 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8255P 2.959 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® QCS8450 3.594 ms 0 - 102 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 2.808 ms 0 - 3 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.885 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 1902.112 ms 1 - 196 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 5.026 ms 0 - 189 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 1.685 ms 0 - 55 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8295P 5.147 ms 0 - 56 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 5.026 ms 0 - 189 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 2.555 ms 0 - 197 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite For Galaxy Mobile 3.144 ms 0 - 198 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 3.794 ms 0 - 313 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 8.658 ms 0 - 246 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 10.15 ms 0 - 92 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.055 ms 0 - 3 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8650P 9.262 ms 0 - 200 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8255P 9.262 ms 0 - 200 MB NPU
vgg_3d_detection TFLITE float Qualcomm® QCS8450 8.658 ms 0 - 246 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 8.96 ms 0 - 91 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 3.144 ms 0 - 198 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8295P 10.305 ms 0 - 185 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 7.606 ms 2 - 196 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite For Galaxy Mobile 11.202 ms 1 - 188 MB NPU
yolo_2d_detection ONNX float Snapdragon® X2 Elite 10.007 ms 2 - 2 MB NPU
yolo_2d_detection ONNX float Snapdragon® X Elite 18.786 ms 199 - 199 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 14.063 ms 0 - 225 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 34.26 ms 2 - 254 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 34.733 ms 2 - 8 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 18.509 ms 0 - 224 MB NPU
yolo_2d_detection ONNX float Qualcomm® QCS8450 34.26 ms 2 - 254 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 29.389 ms 2 - 7 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 18.786 ms 199 - 199 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 11.202 ms 1 - 188 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 4.472 ms 1 - 239 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite For Galaxy Mobile 6.386 ms 1 - 230 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X2 Elite 5.721 ms 2 - 2 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X Elite 11.929 ms 101 - 101 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 7.868 ms 0 - 426 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 16.31 ms 0 - 398 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 52.447 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 11.529 ms 1 - 6 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.444 ms 0 - 114 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® QCS8450 16.31 ms 0 - 398 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 10.448 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 11.929 ms 101 - 101 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 206.616 ms 0 - 378 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 19.067 ms 1 - 351 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 6.386 ms 1 - 230 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 19.067 ms 1 - 351 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 8.19 ms 2 - 187 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite For Galaxy Mobile 11.336 ms 2 - 181 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X2 Elite 10.393 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X Elite 18.723 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 13.972 ms 2 - 222 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 32.253 ms 0 - 238 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 34.394 ms 2 - 7 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 18.407 ms 2 - 5 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8650P 28.67 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8255P 28.67 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® QCS8450 32.253 ms 0 - 238 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 29.507 ms 2 - 6 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 18.723 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 11.336 ms 2 - 181 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8295P 31.857 ms 2 - 202 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 4.413 ms 1 - 224 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite For Galaxy Mobile 6.391 ms 1 - 216 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 6.033 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X Elite 12.233 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 7.824 ms 0 - 411 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 15.139 ms 0 - 384 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 51.811 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 11.47 ms 1 - 5 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.394 ms 1 - 3 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8650P 10.717 ms 1 - 231 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8255P 10.717 ms 1 - 231 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® QCS8450 15.139 ms 0 - 384 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 10.403 ms 3 - 6 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 12.233 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 205.161 ms 1 - 368 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 18.884 ms 1 - 342 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 6.391 ms 1 - 216 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8295P 18.283 ms 0 - 220 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 18.884 ms 1 - 342 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 8.171 ms 0 - 198 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite For Galaxy Mobile 11.27 ms 0 - 192 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 13.944 ms 0 - 415 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 32.395 ms 0 - 427 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 34.678 ms 0 - 205 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 18.067 ms 0 - 2 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8650P 28.501 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8255P 28.501 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® QCS8450 32.395 ms 0 - 427 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 29.277 ms 0 - 204 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 11.27 ms 0 - 192 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8295P 31.553 ms 0 - 206 MB NPU

License

  • The license for the original implementation of 3D-Deep-BOX can be found here.

References

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Paper for qualcomm/3D-Deep-BOX