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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 1.27.1 Download
ONNX w8a16 Universal QAIRT 2.50, ONNX Runtime 1.27.1 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 2.533 ms 0 - 198 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Elite For Galaxy Mobile 3.12 ms 0 - 196 MB NPU
vgg_3d_detection ONNX float Snapdragon® X2 Elite 2.603 ms 2 - 2 MB NPU
vgg_3d_detection ONNX float Snapdragon® X Elite 4.834 ms 89 - 89 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 3.679 ms 0 - 274 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 8.442 ms 0 - 204 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 9.95 ms 0 - 5 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 4.838 ms 0 - 102 MB NPU
vgg_3d_detection ONNX float Qualcomm® QCS8450 8.442 ms 0 - 204 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 8.769 ms 0 - 4 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 4.834 ms 89 - 89 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 3.12 ms 0 - 196 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 1.38 ms 0 - 61 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite For Galaxy Mobile 1.691 ms 0 - 61 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X2 Elite 1.65 ms 1 - 1 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X Elite 2.727 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 2.076 ms 0 - 104 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 3.236 ms 0 - 103 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 1126.48 ms 0 - 4 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 3.298 ms 0 - 5 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 2.712 ms 0 - 59 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® QCS8450 3.236 ms 0 - 103 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 2.825 ms 0 - 4 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.727 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1363.446 ms 1 - 198 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 5.225 ms 0 - 193 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 1.691 ms 0 - 61 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 5.225 ms 0 - 193 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 2.526 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite For Galaxy Mobile 3.104 ms 0 - 196 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X2 Elite 2.775 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X Elite 5.174 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 3.925 ms 0 - 271 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 8.655 ms 0 - 204 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 10.135 ms 1 - 4 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.025 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 8.655 ms 0 - 204 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 9.007 ms 1 - 3 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 5.174 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 3.104 ms 0 - 196 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8295P 10.279 ms 1 - 189 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 1.38 ms 0 - 58 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite For Galaxy Mobile 1.682 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 1.755 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X Elite 2.89 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 2.104 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 1106.678 ms 2 - 5 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 3.266 ms 0 - 3 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 2.701 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 2.807 ms 0 - 3 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.89 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 1984.808 ms 1 - 196 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 5.023 ms 0 - 193 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 1.682 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8295P 5.155 ms 0 - 55 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 5.023 ms 0 - 193 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 2.553 ms 0 - 200 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite For Galaxy Mobile 3.19 ms 0 - 199 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 3.795 ms 0 - 314 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 8.66 ms 0 - 248 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 10.144 ms 0 - 92 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.06 ms 1 - 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 8.66 ms 0 - 248 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 8.967 ms 0 - 91 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 3.19 ms 0 - 199 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8295P 10.306 ms 0 - 191 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 7.776 ms 0 - 193 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite For Galaxy Mobile 11.337 ms 2 - 189 MB NPU
yolo_2d_detection ONNX float Snapdragon® X2 Elite 9.987 ms 2 - 2 MB NPU
yolo_2d_detection ONNX float Snapdragon® X Elite 18.752 ms 199 - 199 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 14.019 ms 0 - 227 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 33.794 ms 2 - 255 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 34.85 ms 2 - 8 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 18.602 ms 0 - 2 MB NPU
yolo_2d_detection ONNX float Qualcomm® QCS8450 33.794 ms 2 - 255 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 29.407 ms 2 - 7 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 18.752 ms 199 - 199 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 11.337 ms 2 - 189 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 4.475 ms 1 - 241 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite For Galaxy Mobile 6.386 ms 1 - 231 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X2 Elite 5.724 ms 2 - 2 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X Elite 11.977 ms 101 - 101 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 7.835 ms 0 - 426 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 15.223 ms 1 - 401 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 52.894 ms 0 - 5 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 11.47 ms 1 - 6 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.423 ms 0 - 114 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® QCS8450 15.223 ms 1 - 401 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 10.439 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 11.977 ms 101 - 101 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 221.523 ms 0 - 378 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 19.207 ms 3 - 353 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 6.386 ms 1 - 231 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 19.207 ms 3 - 353 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 8.011 ms 2 - 186 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite For Galaxy Mobile 11.299 ms 2 - 182 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X2 Elite 10.437 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X Elite 18.635 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 14.022 ms 1 - 219 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 32.274 ms 0 - 238 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 34.367 ms 2 - 7 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 18.263 ms 2 - 4 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 32.274 ms 0 - 238 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 29.783 ms 4 - 8 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 18.635 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 11.299 ms 2 - 182 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8295P 31.859 ms 2 - 202 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 4.461 ms 1 - 224 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite For Galaxy Mobile 6.392 ms 1 - 218 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 6.094 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X Elite 12.208 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 7.791 ms 1 - 414 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 15.496 ms 1 - 386 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 52.266 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 11.481 ms 1 - 5 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.4 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 15.496 ms 1 - 386 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 10.426 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 12.208 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 206.527 ms 1 - 367 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 18.893 ms 1 - 341 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 6.392 ms 1 - 218 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8295P 18.296 ms 0 - 218 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 18.893 ms 1 - 341 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 8.146 ms 0 - 199 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite For Galaxy Mobile 11.211 ms 0 - 191 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 13.94 ms 0 - 412 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 32.463 ms 0 - 426 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 34.579 ms 0 - 205 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 18.224 ms 0 - 3 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 32.463 ms 0 - 426 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 29.611 ms 0 - 204 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 11.211 ms 0 - 191 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8295P 31.564 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