In one embodiment, a system to accelerate batch-normalized convolutional neural network (CNN) models is disclosed. The system extracts a plurality of first groups of layers from a first CNN model, each group of the first groups having a first convolutional layer and a first batch-norm layer. For each group of the plurality of first groups, the system calculates a first scale vector and a first shift vector based on the first batch-norm layer, and generates a second convolutional layer representing the corresponding group of the plurality of first groups based on the first convolutional layer and the first scale and the first shift vectors. The system generates an accelerated CNN model based on the second convolutional layer corresponding to the plurality of the first groups, such that the accelerated CNN model is utilized subsequently to classify an object perceived by an autonomous driving vehicle (ADV).