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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 2.45, ONNX Runtime 1.27.1 Download
ONNX w8a16 Universal QAIRT 2.45, ONNX Runtime 1.27.1 Download
QNN_DLC float Universal QAIRT 2.45 Download
QNN_DLC w8a16 Universal QAIRT 2.45 Download
TFLITE float Universal QAIRT 2.45 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® X2 Elite 2.604 ms 1 - 1 MB NPU
vgg_3d_detection ONNX float Snapdragon® X Elite 4.875 ms 88 - 88 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 3.764 ms 0 - 276 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 9.595 ms 1 - 208 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 10.021 ms 0 - 4 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 4.916 ms 0 - 97 MB NPU
vgg_3d_detection ONNX float Qualcomm® QCS8450 9.595 ms 1 - 208 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 8.86 ms 0 - 4 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 4.875 ms 88 - 88 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 3.014 ms 0 - 196 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Elite Mobile 3.014 ms 0 - 196 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Elite Gen 5 Mobile 2.471 ms 0 - 200 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X2 Elite 1.638 ms 1 - 1 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X Elite 2.716 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 2.078 ms 0 - 97 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 3.511 ms 0 - 97 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 349.282 ms 0 - 3 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) 2.699 ms 0 - 50 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® QCS8450 3.511 ms 0 - 97 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 2.793 ms 0 - 3 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.716 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1891.966 ms 0 - 200 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 5.174 ms 0 - 197 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 1.701 ms 0 - 56 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite Mobile 1.701 ms 0 - 56 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 Mobile 1.406 ms 0 - 57 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 5.174 ms 0 - 197 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X2 Elite 2.785 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X Elite 5.331 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 3.911 ms 0 - 275 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 9.991 ms 0 - 207 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 10.181 ms 1 - 4 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.145 ms 1 - 2 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8775P 9.26 ms 1 - 200 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 9.991 ms 0 - 207 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 9.037 ms 1 - 3 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 5.331 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 3.107 ms 0 - 199 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA7255P 33.451 ms 1 - 198 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8295P 10.557 ms 1 - 195 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite Mobile 3.107 ms 0 - 199 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 2.517 ms 1 - 202 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 1.768 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X Elite 2.896 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 2.106 ms 0 - 96 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 3.5 ms 0 - 96 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 348.992 ms 2 - 4 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 3.283 ms 0 - 3 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 2.73 ms 0 - 140 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8775P 2.959 ms 0 - 57 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 3.5 ms 0 - 96 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 2.821 ms 2 - 4 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.896 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 5.054 ms 0 - 191 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 1.702 ms 0 - 52 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA7255P 9.608 ms 0 - 54 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8295P 5.276 ms 0 - 51 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 1.702 ms 0 - 52 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 1.417 ms 0 - 56 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 5.054 ms 0 - 191 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 3.888 ms 0 - 319 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 10.005 ms 0 - 250 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 10.167 ms 0 - 91 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.132 ms 0 - 3 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8775P 9.262 ms 0 - 200 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 10.005 ms 0 - 250 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 9.047 ms 0 - 91 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 3.11 ms 0 - 202 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA7255P 33.462 ms 0 - 199 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8295P 10.58 ms 0 - 193 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite Mobile 3.11 ms 0 - 202 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 2.515 ms 0 - 203 MB NPU
yolo_2d_detection ONNX float Snapdragon® X2 Elite 10.36 ms 2 - 2 MB NPU
yolo_2d_detection ONNX float Snapdragon® X Elite 18.887 ms 200 - 200 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 14.818 ms 0 - 233 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 38.495 ms 2 - 264 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 35.397 ms 2 - 7 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 18.618 ms 0 - 225 MB NPU
yolo_2d_detection ONNX float Qualcomm® QCS8450 38.495 ms 2 - 264 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 31.048 ms 2 - 6 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 18.887 ms 200 - 200 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 11.638 ms 2 - 194 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite Mobile 11.638 ms 2 - 194 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite Gen 5 Mobile 8.539 ms 0 - 197 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X2 Elite 5.769 ms 2 - 2 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X Elite 12.131 ms 100 - 100 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 8.11 ms 0 - 430 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 19.164 ms 0 - 404 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 58.157 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 11.794 ms 1 - 5 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.792 ms 1 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® QCS8450 19.164 ms 0 - 404 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 10.738 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 12.131 ms 100 - 100 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 198.347 ms 1 - 388 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 20.108 ms 1 - 362 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 6.527 ms 1 - 236 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite Mobile 6.527 ms 1 - 236 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 Mobile 4.546 ms 0 - 247 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 20.108 ms 1 - 362 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X2 Elite 10.451 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X Elite 18.012 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 13.745 ms 1 - 227 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 38.556 ms 0 - 243 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 34.172 ms 2 - 6 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 17.479 ms 2 - 4 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8775P 28.67 ms 2 - 189 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 38.556 ms 0 - 243 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 28.791 ms 2 - 6 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 18.012 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 10.862 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA7255P 118.0 ms 2 - 187 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8295P 32.985 ms 2 - 209 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite Mobile 10.862 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 8.247 ms 2 - 194 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 6.056 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X Elite 12.304 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 7.928 ms 0 - 416 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 18.316 ms 1 - 390 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 56.703 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 11.653 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.528 ms 1 - 2 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8775P 10.717 ms 1 - 231 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 18.316 ms 1 - 390 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 10.43 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 12.304 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 20.247 ms 1 - 353 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 6.461 ms 1 - 225 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA7255P 35.671 ms 1 - 230 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8295P 18.77 ms 1 - 230 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 6.461 ms 1 - 225 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 4.398 ms 1 - 237 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 20.247 ms 1 - 353 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 13.368 ms 0 - 416 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 38.8 ms 0 - 434 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 33.816 ms 0 - 205 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 16.653 ms 0 - 3 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8775P 28.501 ms 0 - 196 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 38.8 ms 0 - 434 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 28.751 ms 0 - 204 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 10.809 ms 0 - 197 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA7255P 117.517 ms 0 - 195 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8295P 32.215 ms 0 - 212 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite Mobile 10.809 ms 0 - 197 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 8.237 ms 0 - 202 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