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SuperPoint

Keypoint Detection
PyTorch
real_time
android
Model card Files
xet
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SuperPoint: Optimized for Qualcomm Devices

SuperPoint is a self-supervised framework for detecting interest points and computing their descriptors in a single forward pass. It uses a VGG-style encoder shared between a keypoint detector head and a descriptor head, trained via homographic adaptation on synthetic shapes and real images. The model outputs up to 500 keypoints per image with 256-dimensional L2-normalised descriptors, suitable for feature matching, visual localisation, and SLAM.

This is based on the implementation of SuperPoint 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
ONNX w8a8 Universal QAIRT 2.50, ONNX Runtime 1.30.0 Download
QNN_DLC float Universal QAIRT 2.50 Download
QNN_DLC w8a8 Universal QAIRT 2.50 Download
TFLITE float Universal QAIRT 2.50 Download
TFLITE w8a8 Universal QAIRT 2.50 Download

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

Model Details

Model Type: Model_use_case.pose_estimation

Model Stats:

  • Descriptor dimension: 256
  • Input resolution: 480x640
  • Model checkpoint: superpoint_v6_from_tf.pth
  • Model size (float): 19.6 MB
  • Model size (w8a8): 3.22 MB
  • Number of parameters: 5.12M
  • Output keypoints (max): 500

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
SuperPoint ONNX float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 6.878 ms 28 - 196 MB NPU
SuperPoint ONNX float Snapdragon® 8 Elite For Galaxy Mobile 9.69 ms 27 - 196 MB NPU
SuperPoint ONNX float Snapdragon® X2 Elite 7.545 ms 40 - 40 MB NPU
SuperPoint ONNX float Snapdragon® X Elite 17.115 ms 40 - 40 MB NPU
SuperPoint ONNX float Snapdragon® 8 Gen 1 Mobile 28.558 ms 19 - 259 MB NPU
SuperPoint ONNX float Qualcomm® Dragonwing™ IQ-8275 28.595 ms 7 - 18 MB NPU
SuperPoint ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 16.91 ms 23 - 29 MB NPU
SuperPoint ONNX float Qualcomm® QCS8450 28.558 ms 19 - 259 MB NPU
SuperPoint ONNX float Qualcomm® Dragonwing™ IQ-X7181 17.115 ms 40 - 40 MB NPU
SuperPoint ONNX float Qualcomm® Dragonwing™ Q-8750 9.69 ms 27 - 196 MB NPU
SuperPoint ONNX float Snapdragon® 8 Elite Extreme Gen 6 Mobile 5.498 ms 34 - 202 MB NPU
SuperPoint ONNX float Snapdragon® 8 Elite Gen 6 Mobile 6.594 ms 33 - 201 MB NPU
SuperPoint ONNX w8a8 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 6.516 ms 6 - 132 MB NPU
SuperPoint ONNX w8a8 Snapdragon® 8 Elite For Galaxy Mobile 8.295 ms 8 - 123 MB NPU
SuperPoint ONNX w8a8 Snapdragon® X2 Elite 6.783 ms 8 - 8 MB NPU
SuperPoint ONNX w8a8 Snapdragon® X Elite 20.927 ms 7 - 7 MB NPU
SuperPoint ONNX w8a8 Snapdragon® 8 Gen 1 Mobile 24.54 ms 8 - 161 MB NPU
SuperPoint ONNX w8a8 Qualcomm® Dragonwing™ IQ-8275 19.575 ms 7 - 11 MB NPU
SuperPoint ONNX w8a8 Qualcomm® Dragonwing™ QCS8550 (Proxy) 19.988 ms 7 - 167 MB NPU
SuperPoint ONNX w8a8 Qualcomm® QCS8450 24.54 ms 8 - 161 MB NPU
SuperPoint ONNX w8a8 Qualcomm® Dragonwing™ IQ-9075 20.756 ms 7 - 10 MB NPU
SuperPoint ONNX w8a8 Qualcomm® Dragonwing™ IQ-X7181 20.927 ms 7 - 7 MB NPU
SuperPoint ONNX w8a8 Qualcomm® Dragonwing™ Q-8750 8.295 ms 8 - 123 MB NPU
SuperPoint ONNX w8a8 Snapdragon® 8 Elite Extreme Gen 6 Mobile 5.39 ms 8 - 137 MB NPU
SuperPoint ONNX w8a8 Snapdragon® 8 Elite Gen 6 Mobile 10.191 ms 8 - 119 MB NPU
SuperPoint QNN_DLC float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 6.767 ms 4 - 168 MB NPU
SuperPoint QNN_DLC float Snapdragon® 8 Elite For Galaxy Mobile 9.605 ms 4 - 163 MB NPU
SuperPoint QNN_DLC float Snapdragon® X2 Elite 7.936 ms 7 - 7 MB NPU
SuperPoint QNN_DLC float Snapdragon® X Elite 16.54 ms 7 - 7 MB NPU
SuperPoint QNN_DLC float Snapdragon® 8 Gen 1 Mobile 30.848 ms 4 - 231 MB NPU
SuperPoint QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 27.41 ms 7 - 29 MB NPU
SuperPoint QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 16.13 ms 7 - 9 MB NPU
SuperPoint QNN_DLC float Qualcomm® SA8775P 23.662 ms 0 - 160 MB NPU
SuperPoint QNN_DLC float Qualcomm® SA8650P 23.662 ms 0 - 160 MB NPU
SuperPoint QNN_DLC float Qualcomm® SA8255P 23.662 ms 0 - 160 MB NPU
SuperPoint QNN_DLC float Qualcomm® QCS8450 30.848 ms 4 - 231 MB NPU
SuperPoint QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 24.532 ms 7 - 28 MB NPU
SuperPoint QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 16.54 ms 7 - 7 MB NPU
SuperPoint QNN_DLC float Qualcomm® Dragonwing™ Q-8750 9.605 ms 4 - 163 MB NPU
SuperPoint QNN_DLC float Qualcomm® SA8295P 31.192 ms 0 - 175 MB NPU
SuperPoint QNN_DLC float Snapdragon® 8 Elite Extreme Gen 6 Mobile 6.152 ms 4 - 168 MB NPU
SuperPoint QNN_DLC float Snapdragon® 8 Elite Gen 6 Mobile 6.594 ms 7 - 173 MB NPU
SuperPoint QNN_DLC w8a8 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 6.353 ms 2 - 124 MB NPU
SuperPoint QNN_DLC w8a8 Snapdragon® 8 Elite For Galaxy Mobile 7.928 ms 1 - 114 MB NPU
SuperPoint QNN_DLC w8a8 Snapdragon® X2 Elite 6.994 ms 2 - 2 MB NPU
SuperPoint QNN_DLC w8a8 Snapdragon® X Elite 20.752 ms 2 - 2 MB NPU
SuperPoint QNN_DLC w8a8 Snapdragon® 8 Gen 1 Mobile 23.892 ms 2 - 152 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® Dragonwing™ IQ-8275 18.848 ms 1 - 9 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® Dragonwing™ QCS8550 (Proxy) 19.597 ms 2 - 4 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® SA8775P 19.86 ms 2 - 105 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® SA8650P 19.86 ms 2 - 105 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® SA8255P 19.86 ms 2 - 105 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® QCS8450 23.892 ms 2 - 152 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® Dragonwing™ IQ-9075 20.248 ms 3 - 10 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® Dragonwing™ IQ-X7181 20.752 ms 2 - 2 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® Dragonwing™ Q-8750 7.928 ms 1 - 114 MB NPU
SuperPoint QNN_DLC w8a8 Qualcomm® SA8295P 26.262 ms 2 - 109 MB NPU
SuperPoint QNN_DLC w8a8 Snapdragon® 8 Elite Extreme Gen 6 Mobile 5.29 ms 1 - 127 MB NPU
SuperPoint QNN_DLC w8a8 Snapdragon® 8 Elite Gen 6 Mobile 9.909 ms 2 - 113 MB NPU
SuperPoint TFLITE float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 6.868 ms 9 - 178 MB NPU
SuperPoint TFLITE float Snapdragon® 8 Elite For Galaxy Mobile 9.311 ms 10 - 182 MB NPU
SuperPoint TFLITE float Snapdragon® 8 Gen 1 Mobile 30.481 ms 12 - 247 MB NPU
SuperPoint TFLITE float Qualcomm® Dragonwing™ IQ-8275 28.578 ms 11 - 36 MB NPU
SuperPoint TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 16.746 ms 12 - 15 MB NPU
SuperPoint TFLITE float Qualcomm® SA8775P 24.709 ms 12 - 176 MB NPU
SuperPoint TFLITE float Qualcomm® SA8650P 24.709 ms 12 - 176 MB NPU
SuperPoint TFLITE float Qualcomm® SA8255P 24.709 ms 12 - 176 MB NPU
SuperPoint TFLITE float Qualcomm® QCS8450 30.481 ms 12 - 247 MB NPU
SuperPoint TFLITE float Qualcomm® Dragonwing™ IQ-9075 25.707 ms 0 - 24 MB NPU
SuperPoint TFLITE float Qualcomm® Dragonwing™ Q-8750 9.311 ms 10 - 182 MB NPU
SuperPoint TFLITE float Qualcomm® SA7255P 86.98 ms 12 - 175 MB NPU
SuperPoint TFLITE float Qualcomm® SA8295P 28.997 ms 12 - 191 MB NPU
SuperPoint TFLITE float Snapdragon® 8 Elite Extreme Gen 6 Mobile 5.249 ms 1 - 170 MB NPU
SuperPoint TFLITE float Snapdragon® 8 Elite Gen 6 Mobile 6.5 ms 10 - 184 MB NPU
SuperPoint TFLITE w8a8 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 6.646 ms 2 - 125 MB NPU
SuperPoint TFLITE w8a8 Snapdragon® 8 Elite For Galaxy Mobile 8.403 ms 0 - 113 MB NPU
SuperPoint TFLITE w8a8 Snapdragon® 8 Gen 1 Mobile 24.822 ms 3 - 154 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® Dragonwing™ QCS6490 580.219 ms 299 - 686 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® Dragonwing™ IQ-8275 19.277 ms 3 - 13 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® Dragonwing™ QCS8550 (Proxy) 20.207 ms 3 - 5 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® SA8775P 20.427 ms 3 - 105 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® SA8650P 20.427 ms 3 - 105 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® SA8255P 20.427 ms 3 - 105 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® QCS8450 24.822 ms 3 - 154 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® Dragonwing™ IQ-9075 20.935 ms 2 - 12 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® Dragonwing™ Q-6690 702.379 ms 260 - 458 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® Dragonwing™ Q-7790 204.681 ms 299 - 474 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® Dragonwing™ Q-8750 8.403 ms 0 - 113 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® SA7255P 39.934 ms 3 - 104 MB NPU
SuperPoint TFLITE w8a8 Qualcomm® SA8295P 27.183 ms 3 - 108 MB NPU
SuperPoint TFLITE w8a8 Snapdragon® 7 Gen 4 Mobile 204.681 ms 299 - 474 MB NPU
SuperPoint TFLITE w8a8 Snapdragon® 8 Elite Extreme Gen 6 Mobile 5.45 ms 2 - 128 MB NPU
SuperPoint TFLITE w8a8 Snapdragon® 8 Elite Gen 6 Mobile 10.277 ms 2 - 114 MB NPU

License

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

References

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