---
title: BEVFusion
canonical_url: "https://www.modelscope.cn/models/Qualcomm-AI-Hub/BEVFusion"
md_url: "https://www.modelscope.cn/models/Qualcomm-AI-Hub/BEVFusion.md"
repository: Qualcomm-AI-Hub/BEVFusion
last_updated: 2026-10-16
license: apache-2.0
downloads: 0
stars: 0
tags:
  - android
---

# BEVFusion

> BEVFusion - Qualcomm-AI-Hub 在 ModelScope 开源的模型。BEVFusion: Optimized for Qualcomm Devices

Qualcomm-AI-Hub/BEVFusion 是 ModelScope 魔搭社区上的机器学习模型，采用 apache-2.0 许可。

- **Repository**: Qualcomm-AI-Hub/BEVFusion
- **License**: apache-2.0
- **Tags**: android
- **Downloads**: 0
- **Stars**: 0
- **Last updated**: 2026-10-16

Source: https://www.modelscope.cn/models/Qualcomm-AI-Hub/BEVFusion

---

![](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/web-assets/model_demo.png)

# BEVFusion: Optimized for Qualcomm Devices

BeVFusion 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 BEVFusion found [here](https://github.com/mit-han-lab/bevfusion).
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-cn/blob/main/src/qai_hub_models/models/bevfusion_det) 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.cn) 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 |
|---|---|---|---|---|
| PRECOMPILED_QNN_ONNX | float | Snapdragon® X2 Elite | QAIRT 2.45, ONNX Runtime 1.27.1 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-precompiled_qnn_onnx-float-qualcomm_snapdragon_x2_elite.zip)
| PRECOMPILED_QNN_ONNX | float | Snapdragon® X Elite | QAIRT 2.45, ONNX Runtime 1.27.1 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-precompiled_qnn_onnx-float-qualcomm_snapdragon_x_elite.zip)
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.45, ONNX Runtime 1.27.1 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-precompiled_qnn_onnx-float-qualcomm_snapdragon_8gen3.zip)
| PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ IQ-8275 | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-precompiled_qnn_onnx-float-qualcomm_qcs8275.zip)
| PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ QCS8550 (Proxy) | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-precompiled_qnn_onnx-float-qualcomm_qcs8550_proxy.zip)
| PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ IQ-9075 | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-precompiled_qnn_onnx-float-qualcomm_qcs9075.zip)
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Mobile | QAIRT 2.45, ONNX Runtime 1.27.1 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-precompiled_qnn_onnx-float-qualcomm_snapdragon_8_elite_for_galaxy.zip)
| PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.45, ONNX Runtime 1.27.1 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-precompiled_qnn_onnx-float-qualcomm_snapdragon_8_elite_gen5_for_galaxy.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® X2 Elite | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_snapdragon_x2_elite.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_snapdragon_x_elite.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_snapdragon_8gen3.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ IQ-8275 | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_qcs8275.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ QCS8550 (Proxy) | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_qcs8550_proxy.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_sa8775p.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ IQ-9075 | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_qcs9075.zip)
| QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_sa7255p.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Mobile | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_snapdragon_8_elite_for_galaxy.zip)
| QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | QAIRT 2.45 | [Download](https://china-qaihub-public-assets.s3.cn-northwest-1.amazonaws.com.cn/qai-hub-models/models/bevfusion_det/releases/v0.62.1/bevfusion_det-qnn_context_binary-float-qualcomm_snapdragon_8_elite_gen5_for_galaxy.zip)

For more device-specific assets and performance metrics, visit **[BEVFusion on Qualcomm® AI Hub](https://aihub.qualcomm.cn/models/bevfusion_det)**.


### Option 2: Export with Custom Configurations

Use the [Qualcomm® AI Hub Models](https://github.com/qualcomm/ai-hub-models-cn/blob/main/src/qai_hub_models/models/bevfusion_det) 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 [BEVFusion on GitHub](https://github.com/qualcomm/ai-hub-models-cn/blob/main/src/qai_hub_models/models/bevfusion_det) for usage instructions.

## Model Details

**Model Type:** Model_use_case.driver_assistance

**Model Stats:**
- Input resolution: 1 x 6 x 3 x 256 x 704
- Model checkpoint: camera-only-det.pth
- Model size: 171 MB
- Number of parameters: 44M

## Performance Summary
| Model | Runtime | Precision | Chipset | Inference Time (ms) | Peak Memory Range (MB) | Primary Compute Unit
|---|---|---|---|---|---|---
| decoder | PRECOMPILED_QNN_ONNX | float | Snapdragon® X2 Elite | 7.003 ms | 22 - 22 MB | NPU
| decoder | PRECOMPILED_QNN_ONNX | float | Snapdragon® X Elite | 13.025 ms | 24 - 24 MB | NPU
| decoder | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | 9.786 ms | 15 - 22 MB | NPU
| decoder | PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ IQ-X7181 | 13.025 ms | 24 - 24 MB | NPU
| decoder | PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ Q-8750 | 7.72 ms | 13 - 21 MB | NPU
| decoder | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Mobile | 7.72 ms | 13 - 21 MB | NPU
| decoder | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 5.731 ms | 12 - 19 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Snapdragon® X2 Elite | 7.638 ms | 5 - 5 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | 13.149 ms | 5 - 5 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | 9.763 ms | 5 - 13 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | 23.802 ms | 4 - 9 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Qualcomm® SA8650P | 23.802 ms | 4 - 9 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Qualcomm® SA8255P | 23.802 ms | 4 - 9 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ IQ-X7181 | 13.149 ms | 5 - 5 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ Q-8750 | 7.735 ms | 0 - 13 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | 92.813 ms | 1 - 10 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Mobile | 7.735 ms | 0 - 13 MB | NPU
| decoder | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | 5.847 ms | 5 - 13 MB | NPU
| encoder_1 | PRECOMPILED_QNN_ONNX | float | Snapdragon® X2 Elite | 387.679 ms | 66 - 66 MB | NPU
| encoder_1 | PRECOMPILED_QNN_ONNX | float | Snapdragon® X Elite | 681.883 ms | 96 - 96 MB | NPU
| encoder_1 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | 530.52 ms | 32 - 44 MB | NPU
| encoder_1 | PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ IQ-X7181 | 681.883 ms | 96 - 96 MB | NPU
| encoder_1 | PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ Q-8750 | 437.871 ms | 37 - 49 MB | NPU
| encoder_1 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Mobile | 437.871 ms | 37 - 49 MB | NPU
| encoder_1 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 354.546 ms | 38 - 51 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Snapdragon® X2 Elite | 386.445 ms | 12 - 12 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | 681.265 ms | 12 - 12 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | 530.623 ms | 13 - 20 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | 720.121 ms | 0 - 9 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8650P | 720.121 ms | 0 - 9 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8255P | 720.121 ms | 0 - 9 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ IQ-X7181 | 681.265 ms | 12 - 12 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ Q-8750 | 432.992 ms | 1 - 9 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | 1074.237 ms | 1 - 10 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Mobile | 432.992 ms | 1 - 9 MB | NPU
| encoder_1 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | 353.741 ms | 0 - 9 MB | NPU
| encoder_2 | PRECOMPILED_QNN_ONNX | float | Snapdragon® X2 Elite | 2437.619 ms | 1058 - 1058 MB | NPU
| encoder_2 | PRECOMPILED_QNN_ONNX | float | Snapdragon® X Elite | 3521.274 ms | 1058 - 1058 MB | NPU
| encoder_2 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | 2781.115 ms | 475 - 482 MB | NPU
| encoder_2 | PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ IQ-X7181 | 3521.274 ms | 1058 - 1058 MB | NPU
| encoder_2 | PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ Q-8750 | 2562.907 ms | 462 - 469 MB | NPU
| encoder_2 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Mobile | 2562.907 ms | 462 - 469 MB | NPU
| encoder_2 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 2271.074 ms | 435 - 443 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Snapdragon® X2 Elite | 2436.226 ms | 17 - 17 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | 3431.206 ms | 17 - 17 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | 2770.131 ms | 17 - 31 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | 3459.164 ms | 2 - 11 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8650P | 3459.164 ms | 2 - 11 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8255P | 3459.164 ms | 2 - 11 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ IQ-X7181 | 3431.206 ms | 17 - 17 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ Q-8750 | 2562.482 ms | 6 - 15 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | 5513.824 ms | 17 - 26 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Mobile | 2562.482 ms | 6 - 15 MB | NPU
| encoder_2 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | 2276.994 ms | 17 - 25 MB | NPU
| encoder_3 | PRECOMPILED_QNN_ONNX | float | Snapdragon® X2 Elite | 7.874 ms | 18 - 18 MB | NPU
| encoder_3 | PRECOMPILED_QNN_ONNX | float | Snapdragon® X Elite | 13.228 ms | 19 - 19 MB | NPU
| encoder_3 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Gen 3 Mobile | 9.203 ms | 30 - 36 MB | NPU
| encoder_3 | PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ IQ-X7181 | 13.228 ms | 19 - 19 MB | NPU
| encoder_3 | PRECOMPILED_QNN_ONNX | float | Qualcomm® Dragonwing™ Q-8750 | 7.775 ms | 14 - 20 MB | NPU
| encoder_3 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Mobile | 7.775 ms | 14 - 20 MB | NPU
| encoder_3 | PRECOMPILED_QNN_ONNX | float | Snapdragon® 8 Elite Gen 5 Mobile | 6.768 ms | 13 - 20 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Snapdragon® X2 Elite | 8.356 ms | 19 - 19 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Snapdragon® X Elite | 12.227 ms | 19 - 19 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Gen 3 Mobile | 9.081 ms | 19 - 26 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8775P | 15.076 ms | 18 - 23 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8650P | 15.076 ms | 18 - 23 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Qualcomm® SA8255P | 15.076 ms | 18 - 23 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ IQ-X7181 | 12.227 ms | 19 - 19 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Qualcomm® Dragonwing™ Q-8750 | 7.775 ms | 17 - 25 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Qualcomm® SA7255P | 25.332 ms | 18 - 27 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Mobile | 7.775 ms | 17 - 25 MB | NPU
| encoder_3 | QNN_CONTEXT_BINARY | float | Snapdragon® 8 Elite Gen 5 Mobile | 6.752 ms | 17 - 25 MB | NPU

## License
* The license for the original implementation of BEVFusion can be found
  [here](https://github.com/w-hc/torch_audioset/blob/master/LICENSE).

## References
* [BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation](https://arxiv.org/abs/2205.13542)
* [Source Model Implementation](https://github.com/mit-han-lab/bevfusion)

## Community
* For questions or feedback, chat with our engineers in [Qualcomm® AI Hub Workbench](https://workbench.aihub.qualcomm.cn).