--- library_name: pytorch license: other tags: - android pipeline_tag: other --- ![](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/cvt/web-assets/model_demo.png) # CVT: Optimized for Qualcomm Devices Cross-View Transformer generates real-time bird's-eye view maps from multiple vehicle cameras for autonomous driving. This is based on the implementation of CVT found [here](https://github.com/bradyz/cross_view_transformers). This repository contains pre-exported model files optimized for Qualcomm® devices. You can use the [Qualcomm® AI Hub Models](https://github.com/qualcomm/ai-hub-models/blob/main/src/qai_hub_models/models/cvt) library to export with custom configurations. More details on model performance across various devices, can be found [here](#performance-summary). Qualcomm AI Hub Models uses [Qualcomm AI Hub Workbench](https://workbench.aihub.qualcomm.com) to compile, profile, and evaluate this model. [Sign up](https://myaccount.qualcomm.com/signup) 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 2.42, ONNX Runtime 1.24.3 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/cvt/releases/v0.51.0/cvt-onnx-float.zip) | ONNX | w8a16_mixed_fp16 | Universal | QAIRT 2.42, ONNX Runtime 1.24.3 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/cvt/releases/v0.51.0/cvt-onnx-w8a16_mixed_fp16.zip) | QNN_DLC | float | Universal | QAIRT 2.45 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/cvt/releases/v0.51.0/cvt-qnn_dlc-float.zip) | QNN_DLC | w8a16_mixed_fp16 | Universal | QAIRT 2.45 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/cvt/releases/v0.51.0/cvt-qnn_dlc-w8a16_mixed_fp16.zip) | TFLITE | float | Universal | QAIRT 2.45 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/cvt/releases/v0.51.0/cvt-tflite-float.zip) For more device-specific assets and performance metrics, visit **[CVT on Qualcomm® AI Hub](https://aihub.qualcomm.com/models/cvt)**. ### Option 2: Export with Custom Configurations Use the [Qualcomm® AI Hub Models](https://github.com/qualcomm/ai-hub-models/blob/main/src/qai_hub_models/models/cvt) 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 [CVT on GitHub](https://github.com/qualcomm/ai-hub-models/blob/main/src/qai_hub_models/models/cvt) for usage instructions. ## Model Details **Model Type:** Model_use_case.driver_assistance **Model Stats:** - Model checkpoint: vehicles_50k.pt - Inference latency: RealTime - Input resolution: 1x6x3x224x480 - Number of parameters: 1.33M - Model size (float): 5.18 MB ## Performance Summary | Model | Runtime | Precision | Chipset | Inference Time (ms) | Peak Memory Range (MB) | Primary Compute Unit |---|---|---|---|---|---|--- | CVT | ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 183.433 ms | 8 - 2258 MB | NPU | CVT | ONNX | float | Snapdragon® X2 Elite | 183.052 ms | 20 - 20 MB | NPU | CVT | ONNX | float | Snapdragon® X Elite | 282.825 ms | 18 - 18 MB | NPU | CVT | ONNX | float | Snapdragon® 8 Gen 3 Mobile | 224.699 ms | 8 - 2578 MB | NPU | CVT | ONNX | float | Qualcomm® QCS8550 (Proxy) | 318.335 ms | 0 - 24 MB | NPU | CVT | ONNX | float | Qualcomm® QCS9075 | 326.55 ms | 7 - 10 MB | NPU | CVT | ONNX | float | Snapdragon® 8 Elite For Galaxy Mobile | 188.812 ms | 3 - 2222 MB | NPU | CVT | ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | 216.427 ms | 6 - 1317 MB | NPU | CVT | ONNX | w8a16_mixed_fp16 | Snapdragon® X2 Elite | 221.839 ms | 18 - 18 MB | NPU | CVT | ONNX | w8a16_mixed_fp16 | Snapdragon® X Elite | 355.386 ms | 15 - 15 MB | NPU | CVT | ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | 303.476 ms | 6 - 1626 MB | NPU | CVT | ONNX | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | 253.463 ms | 4 - 1117 MB | NPU | CVT | QNN_DLC | float | Snapdragon® 8 Elite Gen 5 Mobile | 179.073 ms | 7 - 2308 MB | NPU | CVT | QNN_DLC | float | Snapdragon® X2 Elite | 181.432 ms | 7 - 7 MB | NPU | CVT | QNN_DLC | float | Snapdragon® X Elite | 270.434 ms | 7 - 7 MB | NPU | CVT | QNN_DLC | float | Snapdragon® 8 Gen 3 Mobile | 227.639 ms | 7 - 2588 MB | NPU | CVT | QNN_DLC | float | Qualcomm® QCS8550 (Proxy) | 328.998 ms | 0 - 1092 MB | NPU | CVT | QNN_DLC | float | Qualcomm® QCS9075 | 324.86 ms | 7 - 17 MB | NPU | CVT | QNN_DLC | float | Qualcomm® QCS8450 (Proxy) | 439.412 ms | 6 - 2717 MB | NPU | CVT | QNN_DLC | float | Qualcomm® SA8295P | 336.32 ms | 0 - 2330 MB | NPU | CVT | QNN_DLC | float | Snapdragon® 8 Elite For Galaxy Mobile | 185.53 ms | 7 - 2383 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Snapdragon® 8 Elite Gen 5 Mobile | 203.486 ms | 4 - 2395 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Snapdragon® X2 Elite | 206.333 ms | 4 - 4 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Snapdragon® X Elite | 320.411 ms | 4 - 4 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Snapdragon® 8 Gen 3 Mobile | 245.379 ms | 4 - 2556 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Qualcomm® QCS8275 (Proxy) | 472.502 ms | 2 - 2284 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Qualcomm® QCS8550 (Proxy) | 357.202 ms | 4 - 1500 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Qualcomm® SA8775P | 323.593 ms | 0 - 2282 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Qualcomm® QCS9075 | 395.971 ms | 5 - 11 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Qualcomm® SA7255P | 472.502 ms | 2 - 2284 MB | NPU | CVT | QNN_DLC | w8a16_mixed_fp16 | Snapdragon® 8 Elite For Galaxy Mobile | 211.53 ms | 4 - 2347 MB | NPU | CVT | TFLITE | float | Snapdragon® 8 Elite Gen 5 Mobile | 174.276 ms | 0 - 2332 MB | NPU | CVT | TFLITE | float | Snapdragon® 8 Gen 3 Mobile | 233.495 ms | 0 - 2667 MB | NPU | CVT | TFLITE | float | Qualcomm® QCS8275 (Proxy) | 434.684 ms | 0 - 2303 MB | NPU | CVT | TFLITE | float | Qualcomm® QCS8550 (Proxy) | 324.164 ms | 0 - 4 MB | NPU | CVT | TFLITE | float | Qualcomm® SA8775P | 302.238 ms | 0 - 2303 MB | NPU | CVT | TFLITE | float | Qualcomm® QCS9075 | 331.09 ms | 0 - 36 MB | NPU | CVT | TFLITE | float | Qualcomm® QCS8450 (Proxy) | 443.407 ms | 0 - 2740 MB | NPU | CVT | TFLITE | float | Qualcomm® SA7255P | 434.684 ms | 0 - 2303 MB | NPU | CVT | TFLITE | float | Qualcomm® SA8295P | 346.35 ms | 0 - 2304 MB | NPU | CVT | TFLITE | float | Snapdragon® 8 Elite For Galaxy Mobile | 193.625 ms | 0 - 2398 MB | NPU ## License * The license for the original implementation of CVT can be found [here](https://github.com/bradyz/cross_view_transformers/blob/master/LICENSE). ## References * [Cross-view Transformers for real-time Map-view Semantic Segmentation](https://arxiv.org/abs/2205.02833) * [Source Model Implementation](https://github.com/bradyz/cross_view_transformers) ## Community * Join [our AI Hub Slack community](https://aihub.qualcomm.com/community/slack) to collaborate, post questions and learn more about on-device AI. * For questions or feedback please [reach out to us](mailto:ai-hub-support@qti.qualcomm.com).