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
• 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® X2 Elite	2.25 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Snapdragon® X Elite	4.128 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Gen 3 Mobile	2.518 ms	2 - 170 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Gen 1 Mobile	6.783 ms	7 - 176 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ IQ-8275	4.4 ms	4 - 13 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	3.996 ms	2 - 5 MB	NPU
face_detector	ONNX	float	Qualcomm® QCS8450	6.783 ms	7 - 176 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ IQ-9075	4.824 ms	5 - 12 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ IQ-X7181	4.128 ms	5 - 5 MB	NPU
face_detector	ONNX	float	Qualcomm® Dragonwing™ Q-8750	2.263 ms	0 - 154 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Elite Mobile	2.263 ms	0 - 154 MB	NPU
face_detector	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	2.079 ms	1 - 155 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® X2 Elite	2.827 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® X Elite	5.85 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	3.488 ms	5 - 174 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	8.327 ms	5 - 59 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-8275	5.398 ms	5 - 13 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-8275	11.582 ms	2 - 150 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	5.246 ms	5 - 6 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8775P	6.36 ms	0 - 152 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8650P	6.36 ms	0 - 152 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8255P	6.36 ms	0 - 152 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® QCS8450	8.327 ms	5 - 59 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	7.55 ms	5 - 12 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	5.85 ms	5 - 5 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	2.818 ms	0 - 153 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA7255P	11.582 ms	2 - 150 MB	NPU
face_detector	QNN_DLC	float	Qualcomm® SA8295P	7.684 ms	0 - 34 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Elite Mobile	2.818 ms	0 - 153 MB	NPU
face_detector	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	2.369 ms	4 - 158 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	3.478 ms	0 - 164 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	8.307 ms	1 - 53 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ IQ-8275	5.418 ms	1 - 11 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ IQ-8275	11.597 ms	1 - 149 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	5.306 ms	1 - 3 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8775P	6.323 ms	1 - 155 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8650P	6.323 ms	1 - 155 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8255P	6.323 ms	1 - 155 MB	NPU
face_detector	TFLITE	float	Qualcomm® QCS8450	8.307 ms	1 - 53 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	6.09 ms	1 - 10 MB	NPU
face_detector	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	2.799 ms	0 - 151 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA7255P	11.597 ms	1 - 149 MB	NPU
face_detector	TFLITE	float	Qualcomm® SA8295P	7.715 ms	1 - 35 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Elite Mobile	2.799 ms	0 - 151 MB	NPU
face_detector	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	2.417 ms	0 - 152 MB	NPU
pose_estimator	ONNX	float	Snapdragon® X2 Elite	1.298 ms	2 - 2 MB	NPU
pose_estimator	ONNX	float	Snapdragon® X Elite	2.614 ms	75 - 75 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Gen 3 Mobile	2.079 ms	0 - 39 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Gen 1 Mobile	5.552 ms	0 - 40 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ IQ-8275	5.122 ms	0 - 4 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.712 ms	0 - 82 MB	NPU
pose_estimator	ONNX	float	Qualcomm® QCS8450	5.552 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	2.614 ms	75 - 75 MB	NPU
pose_estimator	ONNX	float	Qualcomm® Dragonwing™ Q-8750	1.637 ms	0 - 24 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Elite Mobile	1.637 ms	0 - 24 MB	NPU
pose_estimator	ONNX	float	Snapdragon® 8 Elite Gen 5 Mobile	1.335 ms	0 - 25 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® X2 Elite	1.517 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® X Elite	2.875 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Gen 3 Mobile	2.233 ms	0 - 37 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Gen 1 Mobile	6.532 ms	0 - 40 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-8275	5.164 ms	1 - 4 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-8275	17.805 ms	1 - 25 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.785 ms	1 - 2 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8775P	4.82 ms	1 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8650P	4.82 ms	1 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8255P	4.82 ms	1 - 26 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® QCS8450	6.532 ms	0 - 40 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-9075	4.652 ms	3 - 5 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ IQ-X7181	2.875 ms	1 - 1 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® Dragonwing™ Q-8750	1.695 ms	0 - 28 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA7255P	17.805 ms	1 - 25 MB	NPU
pose_estimator	QNN_DLC	float	Qualcomm® SA8295P	5.409 ms	1 - 28 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Elite Mobile	1.695 ms	0 - 28 MB	NPU
pose_estimator	QNN_DLC	float	Snapdragon® 8 Elite Gen 5 Mobile	1.434 ms	1 - 28 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Gen 3 Mobile	2.257 ms	0 - 44 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Gen 1 Mobile	6.502 ms	0 - 46 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ IQ-8275	5.134 ms	0 - 78 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ IQ-8275	17.389 ms	0 - 26 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ QCS8550 (Proxy)	2.85 ms	0 - 2 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8775P	4.843 ms	0 - 27 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8650P	4.843 ms	0 - 27 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8255P	4.843 ms	0 - 27 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® QCS8450	6.502 ms	0 - 46 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ IQ-9075	4.776 ms	0 - 78 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® Dragonwing™ Q-8750	1.705 ms	0 - 29 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA7255P	17.389 ms	0 - 26 MB	NPU
pose_estimator	TFLITE	float	Qualcomm® SA8295P	5.352 ms	0 - 28 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Elite Mobile	1.705 ms	0 - 29 MB	NPU
pose_estimator	TFLITE	float	Snapdragon® 8 Elite Gen 5 Mobile	1.38 ms	0 - 29 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.