SixDRepNet: Optimized for Qualcomm Devices

6DRepNet predicts head pose (pitch, yaw, roll) from a face image using a RepVGG-B1g2 backbone and a continuous 6D rotation representation, achieving robust and accurate head pose estimation.

This is based on the implementation of SixDRepNet 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 1.25.0	Download
QNN_DLC	float	Universal	QAIRT 2.45	Download
TFLITE	float	Universal	QAIRT 2.45	Download

For more device-specific assets and performance metrics, visit SixDRepNet 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 SixDRepNet on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.pose_estimation

Model Stats:

• Input resolution: 224x224
• Number of parameters: 15.3M
• Model size (float): 58.4 MB

Performance Summary

Model	Runtime	Precision	Chipset	Inference Time (ms)	Peak Memory Range (MB)	Primary Compute Unit
face_detector	ONNX	float	Snapdragon® X2 Elite	1.914 ms	208 - 208 MB	NPU
face_detector	ONNX	float	Snapdragon® X Elite	3.7 ms	177 - 177 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Gen 3 Mobile	2.188 ms	2 - 156 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Gen 1 Mobile	6.832 ms	1 - 165 MB	NPU
face_detector	ONNX	float	Qualcomm® QCS8550 (Proxy)	3.519 ms	0 - 15 MB	NPU
face_detector	ONNX	float	Qualcomm® QCS8450	6.832 ms	1 - 165 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Elite Mobile	1.722 ms	0 - 166 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	1.817 ms	0 - 159 MB	NPU
face_detector	ONNX	float	Qualcomm® QCS9075	5.43 ms	5 - 50 MB	NPU
face_detector	ONNX	float	Qualcomm® QCS8750	1.722 ms	0 - 166 MB	NPU
face_detector	ONNX	float	Qualcomm® QCS7181	3.7 ms	177 - 177 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® X2 Elite	5.851 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® X Elite	16.58 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	9.334 ms	5 - 177 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	24.527 ms	3 - 174 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS8275	28.241 ms	0 - 150 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS8550 (Proxy)	15.615 ms	5 - 6 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS8450	24.527 ms	3 - 174 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Elite Mobile	6.918 ms	0 - 154 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8295P	20.645 ms	0 - 150 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	5.455 ms	5 - 158 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA7255P	28.241 ms	0 - 150 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS9075	19.595 ms	5 - 12 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS8750	6.918 ms	0 - 154 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS7181	16.58 ms	5 - 5 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	9.267 ms	1 - 168 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	24.64 ms	0 - 172 MB	NPU
face_detector	TFLITE	float	Qualcomm® QCS8275	28.279 ms	1 - 150 MB	NPU
face_detector	TFLITE	float	Qualcomm® QCS8550 (Proxy)	15.655 ms	1 - 3 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8775P	7.778 ms	1 - 32 MB	GPU
face_detector	TFLITE	float	Qualcomm® SA8650P	7.778 ms	1 - 32 MB	GPU
face_detector	TFLITE	float	Qualcomm® SA8255P	7.778 ms	1 - 32 MB	GPU
face_detector	TFLITE	float	Qualcomm® QCS8450	24.64 ms	0 - 172 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Elite Mobile	6.919 ms	1 - 150 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8295P	20.674 ms	1 - 151 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	5.488 ms	1 - 154 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA7255P	28.279 ms	1 - 150 MB	NPU
face_detector	TFLITE	float	Qualcomm® QCS9075	19.262 ms	0 - 9 MB	NPU
face_detector	TFLITE	float	Qualcomm® QCS8750	6.919 ms	1 - 150 MB	NPU
pose_estimator	ONNX	float	Snapdragon® X2 Elite	1.299 ms	212 - 212 MB	NPU
pose_estimator	ONNX	float	Snapdragon® X Elite	2.619 ms	148 - 148 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Gen 3 Mobile	2.078 ms	1 - 28 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Gen 1 Mobile	5.545 ms	1 - 27 MB	NPU
pose_estimator	ONNX	float	Qualcomm® QCS8550 (Proxy)	2.72 ms	0 - 82 MB	NPU
pose_estimator	ONNX	float	Qualcomm® QCS8450	5.545 ms	1 - 27 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Elite Mobile	1.64 ms	0 - 24 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	1.331 ms	1 - 24 MB	NPU
pose_estimator	ONNX	float	Qualcomm® QCS9075	4.548 ms	1 - 46 MB	NPU
pose_estimator	ONNX	float	Qualcomm® QCS8750	1.64 ms	0 - 24 MB	NPU
pose_estimator	ONNX	float	Qualcomm® QCS7181	2.619 ms	148 - 148 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® X2 Elite	1.479 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® X Elite	2.867 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	2.236 ms	0 - 41 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	6.514 ms	0 - 40 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS8275	17.821 ms	1 - 25 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS8550 (Proxy)	2.776 ms	1 - 3 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS8450	6.514 ms	0 - 40 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Elite Mobile	1.736 ms	1 - 27 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8295P	5.39 ms	0 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	1.424 ms	1 - 29 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA7255P	17.821 ms	1 - 25 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS9075	4.902 ms	3 - 5 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS8750	1.736 ms	1 - 27 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS7181	2.867 ms	1 - 1 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	2.249 ms	0 - 44 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	6.49 ms	0 - 46 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® QCS8275	17.388 ms	0 - 26 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® QCS8550 (Proxy)	2.852 ms	0 - 2 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8775P	41.489 ms	0 - 17 MB	GPU
pose_estimator	TFLITE	float	Qualcomm® SA8650P	41.489 ms	0 - 17 MB	GPU
pose_estimator	TFLITE	float	Qualcomm® SA8255P	41.489 ms	0 - 17 MB	GPU
pose_estimator	TFLITE	float	Qualcomm® QCS8450	6.49 ms	0 - 46 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Elite Mobile	1.704 ms	0 - 30 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8295P	5.356 ms	0 - 29 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	1.378 ms	0 - 29 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA7255P	17.388 ms	0 - 26 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® QCS9075	4.739 ms	0 - 78 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® QCS8750	1.704 ms	0 - 30 MB	NPU

License

• The license for the original implementation of SixDRepNet can be found here.

References

• 6D Rotation Representation for Unconstrained Head Pose Estimation
• Source Model Implementation

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.