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 2.50, ONNX Runtime 1.30.0	Download
QNN_DLC	float	Universal	QAIRT 2.50	Download
TFLITE	float	Universal	QAIRT 2.50	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
• Model size (float): 58.4 MB
• Number of parameters: 15.3M

Performance Summary

Model	Runtime	Precision	Chipset	Inference Time (ms)	Peak Memory Range (MB)	Primary Compute Unit
face_detector	ONNX	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	1.882 ms	2 - 149 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Elite For Galaxy Mobile	2.062 ms	0 - 147 MB	NPU
face_detector	ONNX	float	Snapdragon® X2 Elite	1.951 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Snapdragon® X Elite	3.815 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Gen 3 Mobile	2.548 ms	3 - 163 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Gen 1 Mobile	5.672 ms	7 - 172 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ IQ-8275	4.402 ms	4 - 13 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	3.77 ms	0 - 2 MB	NPU
face_detector	ONNX	float	Qualcomm® QCS8450	5.672 ms	7 - 172 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	4.531 ms	5 - 13 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	3.815 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ Q-8750	2.062 ms	0 - 147 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	2.241 ms	5 - 151 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Elite For Galaxy Mobile	2.789 ms	0 - 144 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® X2 Elite	2.583 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® X Elite	5.438 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	3.459 ms	5 - 166 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	8.221 ms	3 - 63 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-8275	5.357 ms	5 - 13 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	4.942 ms	5 - 8 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8650P	6.345 ms	0 - 152 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8255P	6.345 ms	0 - 152 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS8450	8.221 ms	3 - 63 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	5.983 ms	5 - 13 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	5.438 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	2.789 ms	0 - 144 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8295P	7.513 ms	0 - 35 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	2.003 ms	0 - 146 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Elite For Galaxy Mobile	2.622 ms	0 - 148 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	3.519 ms	1 - 160 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	8.249 ms	1 - 59 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ IQ-8275	5.401 ms	1 - 11 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	4.99 ms	1 - 3 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8650P	6.339 ms	1 - 154 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8255P	6.339 ms	1 - 154 MB	NPU
face_detector	TFLITE	float	Qualcomm® QCS8450	8.249 ms	1 - 59 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	6.032 ms	1 - 10 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	2.622 ms	0 - 148 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8295P	7.562 ms	1 - 36 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	1.316 ms	0 - 29 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Elite For Galaxy Mobile	1.442 ms	0 - 29 MB	NPU
pose_estimator	ONNX	float	Snapdragon® X2 Elite	1.295 ms	2 - 2 MB	NPU
pose_estimator	ONNX	float	Snapdragon® X Elite	2.452 ms	76 - 76 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Gen 3 Mobile	1.789 ms	0 - 41 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Gen 1 Mobile	4.314 ms	0 - 43 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ IQ-8275	5.026 ms	0 - 5 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.431 ms	0 - 272 MB	NPU
pose_estimator	ONNX	float	Qualcomm® QCS8450	4.314 ms	0 - 43 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	4.446 ms	0 - 4 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	2.452 ms	76 - 76 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ Q-8750	1.442 ms	0 - 29 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	1.367 ms	1 - 30 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Elite For Galaxy Mobile	1.574 ms	1 - 28 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® X2 Elite	1.457 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® X Elite	2.872 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	1.95 ms	0 - 41 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	4.929 ms	0 - 45 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-8275	5.123 ms	1 - 4 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.669 ms	1 - 2 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8650P	4.812 ms	1 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8255P	4.812 ms	1 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS8450	4.929 ms	0 - 45 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	4.638 ms	3 - 5 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	2.872 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	1.574 ms	1 - 28 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8295P	5.206 ms	1 - 26 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Elite Gen 5 For Galaxy Mobile	1.366 ms	0 - 33 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Elite For Galaxy Mobile	1.553 ms	0 - 33 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	1.945 ms	0 - 49 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	4.937 ms	0 - 51 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ IQ-8275	5.134 ms	0 - 79 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.633 ms	0 - 2 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8650P	4.812 ms	0 - 27 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8255P	4.812 ms	0 - 27 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® QCS8450	4.937 ms	0 - 51 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	4.635 ms	0 - 78 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	1.553 ms	0 - 33 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8295P	5.235 ms	0 - 26 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.