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3D-Deep-BOX

Object Detection
PyTorch
real_time
android
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3D-Deep-BOX: Optimized for Qualcomm Devices

3D Deep Box is a machine learning model that predicts 3D bounding boxes and classes of objects in an image.

This is based on the implementation of 3D-Deep-BOX 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
ONNX w8a16 Universal QAIRT 2.45, ONNX Runtime 1.27.1 Download
QNN_DLC float Universal QAIRT 2.45 Download
QNN_DLC w8a16 Universal QAIRT 2.45 Download
TFLITE float Universal QAIRT 2.45 Download

For more device-specific assets and performance metrics, visit 3D-Deep-BOX 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 3D-Deep-BOX on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.object_detection

Model Stats:

  • 2D detector: COCO-pretrained YOLOv3 (paper uses KITTI-trained MS-CNN)
  • Accuracy (2D AP E/M/H): ~73/59/45 (COCO YOLOv3) vs 92.98/89.04/77.17 (paper MS-CNN). Gap is due to the 2D detector only; VGG 3D head weights are identical to the paper.
  • Input resolution(VGG): 224x224
  • Input resolution(YOLO): 416x416
  • Model checkpoint: YOLOv3
  • Model size (vgg_3d_detection) (float): 176 MB
  • Model size (yolo_2d_detection) (float): 236 MB
  • Number of parameters (vgg_3d_detection): 46.1M
  • Number of parameters (yolo_2d_detection): 61.9M

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
vgg_3d_detection ONNX float Snapdragon® X2 Elite 2.607 ms 2 - 2 MB NPU
vgg_3d_detection ONNX float Snapdragon® X Elite 4.877 ms 88 - 88 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 3.772 ms 0 - 273 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 9.6 ms 0 - 207 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 10.017 ms 0 - 4 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 4.896 ms 0 - 110 MB NPU
vgg_3d_detection ONNX float Qualcomm® QCS8450 9.6 ms 0 - 207 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 9.06 ms 1 - 4 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 4.877 ms 88 - 88 MB NPU
vgg_3d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 3.011 ms 0 - 200 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Elite Mobile 3.011 ms 0 - 200 MB NPU
vgg_3d_detection ONNX float Snapdragon® 8 Elite Gen 5 Mobile 2.471 ms 0 - 200 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X2 Elite 1.633 ms 1 - 1 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® X Elite 2.703 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 2.076 ms 0 - 97 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 3.522 ms 0 - 97 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 351.406 ms 0 - 3 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 3.293 ms 0 - 4 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 2.683 ms 0 - 50 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® QCS8450 3.522 ms 0 - 97 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 2.799 ms 0 - 3 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.703 ms 45 - 45 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1877.733 ms 1 - 199 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 5.168 ms 0 - 197 MB NPU
vgg_3d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 1.698 ms 0 - 58 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite Mobile 1.698 ms 0 - 58 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 Mobile 1.406 ms 0 - 57 MB NPU
vgg_3d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 5.168 ms 0 - 197 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X2 Elite 2.807 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® X Elite 5.328 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 3.904 ms 0 - 274 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 9.999 ms 0 - 205 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 10.172 ms 1 - 4 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 33.444 ms 1 - 198 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.153 ms 1 - 2 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8775P 9.239 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8650P 9.239 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8255P 9.239 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® QCS8450 9.999 ms 0 - 205 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 9.039 ms 1 - 3 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 5.328 ms 1 - 1 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 3.154 ms 0 - 199 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA7255P 33.444 ms 1 - 198 MB NPU
vgg_3d_detection QNN_DLC float Qualcomm® SA8295P 10.559 ms 1 - 195 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite Mobile 3.154 ms 0 - 199 MB NPU
vgg_3d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 2.517 ms 1 - 200 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 1.75 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® X Elite 2.868 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 2.108 ms 1 - 98 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 3.516 ms 0 - 96 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 351.42 ms 0 - 2 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 3.289 ms 0 - 3 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 9.538 ms 0 - 54 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 2.729 ms 0 - 2 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8775P 2.953 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8650P 2.953 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8255P 2.953 ms 0 - 57 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® QCS8450 3.516 ms 0 - 96 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 2.819 ms 2 - 4 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 2.868 ms 0 - 0 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 5.051 ms 0 - 195 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 1.702 ms 0 - 53 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA7255P 9.538 ms 0 - 54 MB NPU
vgg_3d_detection QNN_DLC w8a16 Qualcomm® SA8295P 5.292 ms 0 - 51 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 1.702 ms 0 - 53 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 1.413 ms 0 - 56 MB NPU
vgg_3d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 5.051 ms 0 - 195 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 3.894 ms 0 - 317 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 10.005 ms 0 - 250 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 10.181 ms 0 - 91 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 33.484 ms 0 - 199 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 5.139 ms 0 - 2 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8775P 9.263 ms 0 - 201 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8650P 9.263 ms 0 - 201 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8255P 9.263 ms 0 - 201 MB NPU
vgg_3d_detection TFLITE float Qualcomm® QCS8450 10.005 ms 0 - 250 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 9.06 ms 0 - 91 MB NPU
vgg_3d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 3.118 ms 0 - 202 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA7255P 33.484 ms 0 - 199 MB NPU
vgg_3d_detection TFLITE float Qualcomm® SA8295P 10.578 ms 0 - 194 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite Mobile 3.118 ms 0 - 202 MB NPU
vgg_3d_detection TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 2.518 ms 0 - 203 MB NPU
yolo_2d_detection ONNX float Snapdragon® X2 Elite 10.28 ms 2 - 2 MB NPU
yolo_2d_detection ONNX float Snapdragon® X Elite 18.879 ms 199 - 199 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 3 Mobile 14.693 ms 1 - 233 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Gen 1 Mobile 38.419 ms 2 - 265 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-8275 35.394 ms 2 - 7 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 19.171 ms 0 - 225 MB NPU
yolo_2d_detection ONNX float Qualcomm® QCS8450 38.419 ms 2 - 265 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-9075 30.546 ms 2 - 6 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ IQ-X7181 18.879 ms 199 - 199 MB NPU
yolo_2d_detection ONNX float Qualcomm® Dragonwing™ Q-8750 11.623 ms 2 - 193 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite Mobile 11.623 ms 2 - 193 MB NPU
yolo_2d_detection ONNX float Snapdragon® 8 Elite Gen 5 Mobile 8.501 ms 2 - 199 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X2 Elite 5.773 ms 2 - 2 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® X Elite 12.146 ms 101 - 101 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 8.107 ms 0 - 430 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 18.97 ms 0 - 405 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 58.027 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 11.913 ms 1 - 5 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 11.895 ms 0 - 129 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® QCS8450 18.97 ms 0 - 405 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 10.752 ms 0 - 4 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 12.146 ms 101 - 101 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 208.66 ms 0 - 386 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 20.197 ms 1 - 361 MB NPU
yolo_2d_detection ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 6.511 ms 1 - 237 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite Mobile 6.511 ms 1 - 237 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 8 Elite Gen 5 Mobile 4.543 ms 0 - 247 MB NPU
yolo_2d_detection ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 20.197 ms 1 - 361 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X2 Elite 10.443 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® X Elite 17.954 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 3 Mobile 13.7 ms 1 - 226 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Gen 1 Mobile 38.21 ms 0 - 243 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 34.23 ms 2 - 6 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 117.953 ms 2 - 188 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 17.565 ms 2 - 4 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8775P 28.67 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8650P 28.67 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8255P 28.67 ms 2 - 189 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® QCS8450 38.21 ms 0 - 243 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 29.191 ms 2 - 6 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 17.954 ms 2 - 2 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® Dragonwing™ Q-8750 10.846 ms 1 - 186 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA7255P 117.953 ms 2 - 188 MB NPU
yolo_2d_detection QNN_DLC float Qualcomm® SA8295P 32.967 ms 2 - 210 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite Mobile 10.846 ms 1 - 186 MB NPU
yolo_2d_detection QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 8.252 ms 2 - 196 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X2 Elite 5.959 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® X Elite 12.227 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 7.948 ms 1 - 420 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 19.566 ms 1 - 389 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 56.736 ms 2 - 5 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 11.67 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 35.674 ms 1 - 230 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 10.765 ms 1 - 3 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8775P 10.733 ms 1 - 231 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8650P 10.733 ms 1 - 231 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8255P 10.733 ms 1 - 231 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® QCS8450 19.566 ms 1 - 389 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 10.449 ms 1 - 4 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 12.227 ms 1 - 1 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 20.421 ms 1 - 353 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 6.444 ms 0 - 223 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA7255P 35.674 ms 1 - 230 MB NPU
yolo_2d_detection QNN_DLC w8a16 Qualcomm® SA8295P 18.77 ms 1 - 230 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 6.444 ms 0 - 223 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 4.412 ms 1 - 235 MB NPU
yolo_2d_detection QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 20.421 ms 1 - 353 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 3 Mobile 13.417 ms 0 - 419 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Gen 1 Mobile 39.281 ms 0 - 434 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 33.547 ms 0 - 205 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-8275 117.547 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 16.759 ms 0 - 2 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8775P 28.493 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8650P 28.493 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8255P 28.493 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® QCS8450 39.281 ms 0 - 434 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ IQ-9075 28.739 ms 0 - 204 MB NPU
yolo_2d_detection TFLITE float Qualcomm® Dragonwing™ Q-8750 11.068 ms 0 - 197 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA7255P 117.547 ms 0 - 196 MB NPU
yolo_2d_detection TFLITE float Qualcomm® SA8295P 32.207 ms 0 - 212 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite Mobile 11.068 ms 0 - 197 MB NPU
yolo_2d_detection TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 8.262 ms 0 - 202 MB NPU

License

  • The license for the original implementation of 3D-Deep-BOX can be found here.

References

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Paper for qualcomm/3D-Deep-BOX