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HFNet

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HFNet: Optimized for Qualcomm Devices

HFNet provides local keypoints and descriptors together with a global descriptor for image matching and localization pipelines.

This is based on the implementation of HFNet 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 HFNet 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 HFNet on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.robotics

Model Stats:

  • Input format: NHWC float32, range 0..255
  • Input resolution: 640x480 (grayscale)
  • Model size (float): 126MB
  • Number of parameters: 33.0M
  • Outputs: Global descriptor, keypoints, keypoint scores, dense scores
  • Source model: hfnet.onnx

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
HFNet ONNX float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 67.148 ms 8 - 218 MB NPU
HFNet ONNX float Snapdragon® 8 Elite For Galaxy Mobile 69.305 ms 10 - 208 MB NPU
HFNet ONNX float Snapdragon® X2 Elite 67.013 ms 16 - 16 MB NPU
HFNet ONNX float Snapdragon® X Elite 117.702 ms 66 - 66 MB NPU
HFNet ONNX float Snapdragon® 8 Gen 3 Mobile 81.859 ms 0 - 316 MB NPU
HFNet ONNX float Snapdragon® 8 Gen 1 Mobile 119.598 ms 0 - 312 MB NPU
HFNet ONNX float Qualcomm® Dragonwing™ IQ-8275 104.8 ms 8 - 13 MB NPU
HFNet ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 117.978 ms 0 - 81 MB NPU
HFNet ONNX float Qualcomm® QCS8450 119.598 ms 0 - 312 MB NPU
HFNet ONNX float Qualcomm® Dragonwing™ IQ-9075 119.424 ms 9 - 14 MB NPU
HFNet ONNX float Qualcomm® Dragonwing™ IQ-X7181 117.702 ms 66 - 66 MB NPU
HFNet ONNX float Qualcomm® Dragonwing™ Q-8750 69.305 ms 10 - 208 MB NPU
HFNet QNN_DLC float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 65.291 ms 1 - 217 MB NPU
HFNet QNN_DLC float Snapdragon® 8 Elite For Galaxy Mobile 69.375 ms 2 - 206 MB NPU
HFNet QNN_DLC float Snapdragon® X2 Elite 68.248 ms 1 - 1 MB NPU
HFNet QNN_DLC float Snapdragon® X Elite 118.775 ms 1 - 1 MB NPU
HFNet QNN_DLC float Snapdragon® 8 Gen 3 Mobile 81.774 ms 0 - 313 MB NPU
HFNet QNN_DLC float Snapdragon® 8 Gen 1 Mobile 120.393 ms 1 - 311 MB NPU
HFNet QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 104.206 ms 1 - 9 MB NPU
HFNet QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 116.944 ms 1 - 3 MB NPU
HFNet QNN_DLC float Qualcomm® SA8775P 119.88 ms 2 - 198 MB NPU
HFNet QNN_DLC float Qualcomm® SA8650P 119.88 ms 2 - 198 MB NPU
HFNet QNN_DLC float Qualcomm® SA8255P 119.88 ms 2 - 198 MB NPU
HFNet QNN_DLC float Qualcomm® QCS8450 120.393 ms 1 - 311 MB NPU
HFNet QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 118.929 ms 1 - 8 MB NPU
HFNet QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 118.775 ms 1 - 1 MB NPU
HFNet QNN_DLC float Qualcomm® Dragonwing™ Q-8750 69.375 ms 2 - 206 MB NPU
HFNet QNN_DLC float Qualcomm® SA7255P 184.735 ms 1 - 196 MB NPU
HFNet QNN_DLC float Qualcomm® SA8295P 128.435 ms 2 - 201 MB NPU
HFNet TFLITE float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 67.176 ms 2 - 214 MB NPU
HFNet TFLITE float Snapdragon® 8 Elite For Galaxy Mobile 68.351 ms 0 - 204 MB NPU
HFNet TFLITE float Snapdragon® 8 Gen 3 Mobile 82.476 ms 4 - 327 MB NPU
HFNet TFLITE float Snapdragon® 8 Gen 1 Mobile 122.661 ms 4 - 323 MB NPU
HFNet TFLITE float Qualcomm® Dragonwing™ IQ-8275 104.369 ms 4 - 78 MB NPU
HFNet TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 119.124 ms 0 - 88 MB NPU
HFNet TFLITE float Qualcomm® SA8775P 120.633 ms 4 - 207 MB NPU
HFNet TFLITE float Qualcomm® SA8650P 120.633 ms 4 - 207 MB NPU
HFNet TFLITE float Qualcomm® SA8255P 120.633 ms 4 - 207 MB NPU
HFNet TFLITE float Qualcomm® QCS8450 122.661 ms 4 - 323 MB NPU
HFNet TFLITE float Qualcomm® Dragonwing™ IQ-9075 121.005 ms 4 - 77 MB NPU
HFNet TFLITE float Qualcomm® Dragonwing™ Q-8750 68.351 ms 0 - 204 MB NPU
HFNet TFLITE float Qualcomm® SA7255P 184.775 ms 4 - 207 MB NPU
HFNet TFLITE float Qualcomm® SA8295P 130.442 ms 4 - 207 MB NPU

License

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

References

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