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 1.27.1	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	1.91 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Snapdragon® X Elite	3.66 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Gen 3 Mobile	2.163 ms	0 - 174 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Gen 1 Mobile	6.801 ms	7 - 176 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	3.504 ms	0 - 5 MB	NPU
face_detector	ONNX	float	Qualcomm® QCS8450	6.801 ms	7 - 176 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	4.087 ms	5 - 12 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	3.66 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ Q-8750	1.734 ms	0 - 164 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Elite Mobile	1.734 ms	0 - 164 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	1.804 ms	1 - 166 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® X2 Elite	5.846 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® X Elite	16.748 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	9.379 ms	5 - 174 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	24.412 ms	5 - 178 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8275	28.202 ms	0 - 150 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	15.625 ms	5 - 86 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8775P	16.528 ms	2 - 153 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8650P	16.528 ms	2 - 153 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8255P	16.528 ms	2 - 153 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS8450	24.412 ms	5 - 178 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	17.407 ms	5 - 12 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	16.748 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	6.92 ms	0 - 154 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA7255P	28.202 ms	0 - 150 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8295P	20.611 ms	1 - 151 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Elite Mobile	6.92 ms	0 - 154 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	5.445 ms	4 - 157 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	9.25 ms	2 - 169 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	24.502 ms	0 - 172 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ QCS8275	28.303 ms	1 - 151 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	15.719 ms	1 - 3 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8775P	16.517 ms	1 - 154 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8650P	16.517 ms	1 - 154 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8255P	16.517 ms	1 - 154 MB	NPU
face_detector	TFLITE	float	Qualcomm® QCS8450	24.502 ms	0 - 172 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	16.905 ms	0 - 9 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	6.932 ms	0 - 152 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA7255P	28.303 ms	1 - 151 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8295P	20.655 ms	1 - 151 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Elite Mobile	6.932 ms	0 - 152 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	5.532 ms	1 - 157 MB	NPU
pose_estimator	ONNX	float	Snapdragon® X2 Elite	1.293 ms	2 - 2 MB	NPU
pose_estimator	ONNX	float	Snapdragon® X Elite	2.625 ms	76 - 76 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Gen 3 Mobile	2.087 ms	0 - 37 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Gen 1 Mobile	5.55 ms	0 - 40 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.707 ms	1 - 3 MB	NPU
pose_estimator	ONNX	float	Qualcomm® QCS8450	5.55 ms	0 - 40 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	4.498 ms	0 - 4 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	2.625 ms	76 - 76 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ Q-8750	1.662 ms	0 - 24 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Elite Mobile	1.662 ms	0 - 24 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	1.337 ms	0 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® X2 Elite	1.527 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® X Elite	2.869 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	2.236 ms	0 - 39 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	6.536 ms	0 - 40 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8275	17.831 ms	1 - 25 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.775 ms	1 - 173 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8775P	4.828 ms	1 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8650P	4.828 ms	1 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8255P	4.828 ms	1 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS8450	6.536 ms	0 - 40 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	4.647 ms	1 - 3 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	2.869 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	1.684 ms	1 - 27 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA7255P	17.831 ms	1 - 25 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8295P	5.393 ms	1 - 27 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Elite Mobile	1.684 ms	1 - 27 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	1.429 ms	1 - 28 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	2.244 ms	0 - 44 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	6.505 ms	0 - 46 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ QCS8275	17.388 ms	0 - 26 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.849 ms	0 - 3 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8775P	4.831 ms	0 - 28 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8650P	4.831 ms	0 - 28 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8255P	4.831 ms	0 - 28 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® QCS8450	6.505 ms	0 - 46 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	4.649 ms	0 - 78 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	1.707 ms	0 - 31 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA7255P	17.388 ms	0 - 26 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8295P	5.349 ms	0 - 22 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Elite Mobile	1.707 ms	0 - 31 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	1.378 ms	0 - 27 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.