Efficient and Robust 2D-to-BEV Representation Learning via Geometry-guided Kernel Transformer
Paper
• 2206.04584 • Published
GKT: Optimized for Qualcomm Devices
Geometry-guided Kernel Transformer 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 GKT found [here](https://github.com/hustvl/GKT/ https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/Qualcomm+AI+Hub+Proprietary+License.pdf). 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® X Elite | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | float | Qualcomm® QCS8550 (Proxy) | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite For Galaxy Mobile | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | float | Snapdragon® X2 Elite | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | float | Qualcomm® QCS9075 | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® X Elite | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® X2 Elite | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Qualcomm® QCS9075 | QAIRT 2.42, ONNX Runtime 1.24.1 | Download |
| QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Qualcomm® QCS8275 (Proxy) | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Qualcomm® QCS8550 (Proxy) | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite For Galaxy Mobile | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Snapdragon® X2 Elite | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Qualcomm® SA8295P | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Qualcomm® QCS9075 | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | float | Qualcomm® QCS8450 (Proxy) | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® X Elite | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8275 (Proxy) | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA8775P | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® X2 Elite | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA7255P | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA8295P | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS9075 | QAIRT 2.43 | Download |
| QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8450 (Proxy) | QAIRT 2.43 | Download |
For more device-specific assets and performance metrics, visit GKT 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 GKT on GitHub for usage instructions.
Model Details
Model Type: Model_use_case.driver_assistance
Model Stats:
- Model checkpoint: map_segmentation_gkt_7x1_conv_setting2.ckpt
- Input resolution: 1 x 6 x 3 x 224 x 480
- Number of parameters: 1.18M
- Model size: 4.66 MB
Performance Summary
| Model | Runtime | Precision | Chipset | Inference Time (ms) | Peak Memory Range (MB) | Primary Compute Unit |
|---|---|---|---|---|---|---|
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® X Elite | 106.4 ms | 7 - 7 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | 79.454 ms | 8 - 15 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | float | Qualcomm® QCS8550 (Proxy) | 110.344 ms | 8 - 11 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | float | Qualcomm® QCS9075 | 109.915 ms | 7 - 10 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite For Galaxy Mobile | 71.538 ms | 1 - 8 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 56.714 ms | 8 - 18 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | float | Snapdragon® X2 Elite | 61.693 ms | 6 - 6 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® X Elite | 128.247 ms | 6 - 6 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | 95.849 ms | 4 - 12 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | 129.961 ms | 1 - 10 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Qualcomm® QCS9075 | 130.31 ms | 4 - 6 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | 82.212 ms | 1 - 8 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | 70.214 ms | 4 - 14 MB | NPU |
| GKT | PRECOMPILED_QNN_ONNX | w8a16_mixed_fp16 | Snapdragon® X2 Elite | 79.574 ms | 7 - 7 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | 104.991 ms | 7 - 7 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | 77.534 ms | 8 - 15 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® QCS8275 (Proxy) | 183.072 ms | 1 - 9 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® QCS8550 (Proxy) | 109.361 ms | 8 - 9 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | 110.683 ms | 0 - 10 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® QCS9075 | 110.066 ms | 7 - 17 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® QCS8450 (Proxy) | 208.536 ms | 8 - 17 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | 183.072 ms | 1 - 9 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Qualcomm® SA8295P | 140.472 ms | 0 - 6 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite For Galaxy Mobile | 71.856 ms | 0 - 13 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | 57.236 ms | 7 - 17 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | float | Snapdragon® X2 Elite | 61.925 ms | 7 - 7 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® X Elite | 128.364 ms | 4 - 4 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | 95.11 ms | 6 - 14 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8275 (Proxy) | 191.142 ms | 0 - 9 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | 129.628 ms | 4 - 6 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA8775P | 129.449 ms | 0 - 10 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS9075 | 129.235 ms | 3 - 8 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® QCS8450 (Proxy) | 143.045 ms | 4 - 13 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA7255P | 191.142 ms | 0 - 9 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Qualcomm® SA8295P | 152.623 ms | 0 - 6 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | 82.501 ms | 4 - 17 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | 69.781 ms | 4 - 13 MB | NPU |
| GKT | QNN_CONTEXT_BINARY | w8a16_mixed_fp16 | Snapdragon® X2 Elite | 79.554 ms | 4 - 4 MB | NPU |
License
- The license for the original implementation of GKT can be found here.
References
- Efficient and Robust 2D-to-BEV Representation Learning via Geometry-guided Kernel Transformer
- [Source Model Implementation](https://github.com/hustvl/GKT/ https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/Qualcomm+AI+Hub+Proprietary+License.pdf)
Community
- Join our AI Hub Slack community to collaborate, post questions and learn more about on-device AI.
- For questions or feedback please reach out to us.
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