Object Detection
PyTorch
real_time
android

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 3.874 ms 2 - 2 MB NPU
vgg_3d_detection ONNX float Snapdragon® X Elite 4.891 ms 88 - 88 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 3.767 ms 0 - 274 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 9.605 ms 1 - 209 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 10.016 ms 0 - 4 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 4.894 ms 0 - 342 MB NPU
vgg_3d_detection ONNX float Qualcomm® QCS8450 9.605 ms 1 - 209 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 9.058 ms 1 - 4 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 4.891 ms 88 - 88 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 3.024 ms 0 - 199 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Elite Mobile 3.024 ms 0 - 199 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Elite Gen 5 Mobile 2.471 ms 0 - 202 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X2 Elite 1.637 ms 1 - 1 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X Elite 2.708 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 3.516 ms 0 - 97 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 348.828 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) 2.686 ms 0 - 50 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® QCS8450 3.516 ms 0 - 97 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 2.799 ms 0 - 3 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.708 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1971.69 ms 1 - 201 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 5.178 ms 0 - 197 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 1.698 ms 0 - 57 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite Mobile 1.698 ms 0 - 57 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 Mobile 1.404 ms 0 - 57 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 5.178 ms 0 - 197 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X2 Elite 2.803 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X Elite 5.306 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 3.904 ms 0 - 277 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 9.968 ms 0 - 207 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 10.161 ms 1 - 4 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 33.456 ms 1 - 199 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.147 ms 1 - 2 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8775P 9.25 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8650P 9.25 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8255P 9.25 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® QCS8450 9.968 ms 0 - 207 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 9.406 ms 1 - 3 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 5.306 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 3.109 ms 1 - 199 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA7255P 33.456 ms 1 - 199 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8295P 10.545 ms 1 - 193 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite Mobile 3.109 ms 1 - 199 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 2.518 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 1.753 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X Elite 2.887 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 3.541 ms 0 - 95 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 352.884 ms 2 - 4 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 3.285 ms 0 - 3 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 9.54 ms 0 - 54 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 2.727 ms 0 - 2 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8775P 2.97 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8650P 2.97 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8255P 2.97 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® QCS8450 3.541 ms 0 - 95 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 2.929 ms 0 - 2 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.887 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 5.059 ms 0 - 195 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 1.698 ms 0 - 53 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA7255P 9.54 ms 0 - 54 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8295P 5.29 ms 0 - 51 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 1.698 ms 0 - 53 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 1.417 ms 0 - 55 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 5.059 ms 0 - 195 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 3.883 ms 0 - 318 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 10.01 ms 0 - 251 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 10.174 ms 0 - 91 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 33.484 ms 0 - 199 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.139 ms 0 - 2 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 10.01 ms 0 - 251 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 9.403 ms 0 - 91 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 3.131 ms 0 - 202 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA7255P 33.484 ms 0 - 199 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8295P 10.581 ms 0 - 194 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite Mobile 3.131 ms 0 - 202 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 2.519 ms 0 - 203 MB NPU
yolo_2d_detection ONNX float Snapdragon® X2 Elite 10.326 ms 2 - 2 MB NPU
yolo_2d_detection ONNX float Snapdragon® X Elite 18.771 ms 199 - 199 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 14.591 ms 0 - 234 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 38.783 ms 2 - 263 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 35.101 ms 2 - 7 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 18.751 ms 0 - 225 MB NPU
yolo_2d_detection ONNX float Qualcomm® QCS8450 38.783 ms 2 - 263 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 30.25 ms 2 - 6 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 18.771 ms 199 - 199 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 11.656 ms 2 - 193 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite Mobile 11.656 ms 2 - 193 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite Gen 5 Mobile 8.518 ms 1 - 197 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X2 Elite 5.763 ms 2 - 2 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X Elite 12.073 ms 100 - 100 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 8.124 ms 0 - 431 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 18.699 ms 0 - 403 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 58.056 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 11.804 ms 1 - 5 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.72 ms 0 - 114 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® QCS8450 18.699 ms 0 - 403 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 12.439 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 12.073 ms 100 - 100 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 192.115 ms 0 - 386 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 20.346 ms 1 - 361 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 6.558 ms 1 - 238 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite Mobile 6.558 ms 1 - 238 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 20.346 ms 1 - 361 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X2 Elite 10.489 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X Elite 18.015 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 13.765 ms 2 - 227 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 38.349 ms 0 - 243 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 33.985 ms 2 - 6 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 117.985 ms 2 - 187 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 17.502 ms 2 - 4 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8775P 28.672 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8650P 28.672 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8255P 28.672 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® QCS8450 38.349 ms 0 - 243 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 29.222 ms 2 - 6 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 18.015 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 10.917 ms 1 - 188 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA7255P 117.985 ms 2 - 187 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8295P 32.996 ms 2 - 209 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite Mobile 10.917 ms 1 - 188 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 8.243 ms 2 - 195 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 6.015 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X Elite 12.223 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 7.924 ms 1 - 418 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 18.468 ms 1 - 390 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 56.706 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 11.682 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 35.673 ms 1 - 230 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.509 ms 1 - 3 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8775P 10.722 ms 1 - 231 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8650P 10.722 ms 1 - 231 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8255P 10.722 ms 1 - 231 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® QCS8450 18.468 ms 1 - 390 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 10.44 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 12.223 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 20.381 ms 1 - 353 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 6.469 ms 0 - 222 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA7255P 35.673 ms 1 - 230 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8295P 18.801 ms 1 - 230 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 6.469 ms 0 - 222 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 4.393 ms 1 - 236 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 20.381 ms 1 - 353 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 13.419 ms 0 - 414 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 39.394 ms 0 - 433 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 33.85 ms 0 - 205 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 117.57 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 16.617 ms 0 - 2 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8775P 28.488 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8650P 28.488 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8255P 28.488 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® QCS8450 39.394 ms 0 - 433 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 29.008 ms 0 - 204 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 10.824 ms 0 - 197 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA7255P 117.57 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8295P 32.221 ms 0 - 212 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite Mobile 10.824 ms 0 - 197 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 8.223 ms 0 - 203 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