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RangeNet-Plus-Plus

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RangeNet-Plus-Plus: Optimized for Qualcomm Devices

RangeNet-Plus-Plus (also stylized as RangeNet++) projects a LiDAR point cloud onto a 5-channel range image (depth, x, y, z, intensity) and applies a DarkNet-53 encoder with a decoder head to predict per-point semantic class labels in real time.

This is based on the implementation of RangeNet-Plus-Plus 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 RangeNet-Plus-Plus 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 RangeNet-Plus-Plus on GitHub for usage instructions.

Model Details

Model Type: Model_use_case.driver_assistance

Model Stats:

  • Backbone: DarkNet-53
  • Input channels: 5
  • Input resolution: 64x2048
  • Model checkpoint: darknet53_rangenet++
  • Number of output classes: 20

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
RangeNet-Plus-Plus ONNX float Snapdragon® X2 Elite 50.487 ms 35 - 35 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® X Elite 100.113 ms 101 - 101 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 3 Mobile 77.958 ms 0 - 459 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 1 Mobile 216.607 ms 1 - 524 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-8275 178.11 ms 21 - 27 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 104.064 ms 0 - 112 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® QCS8450 216.607 ms 1 - 524 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-9075 157.296 ms 21 - 26 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-X7181 100.113 ms 101 - 101 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ Q-8750 60.117 ms 23 - 349 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Elite Mobile 60.117 ms 23 - 349 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Elite Gen 5 Mobile 42.943 ms 21 - 370 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X2 Elite 37.594 ms 18 - 18 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X Elite 65.689 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 51.762 ms 0 - 473 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 114.83 ms 12 - 595 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 425.984 ms 24 - 28 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 70.041 ms 10 - 15 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 67.652 ms 0 - 57 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® QCS8450 114.83 ms 12 - 595 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 70.225 ms 13 - 17 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 65.689 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1619.834 ms 0 - 795 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 135.934 ms 29 - 553 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 45.496 ms 12 - 357 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite Mobile 45.496 ms 12 - 357 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite Gen 5 Mobile 31.753 ms 12 - 361 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 135.934 ms 29 - 553 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X2 Elite 50.01 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X Elite 100.174 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 3 Mobile 77.492 ms 0 - 451 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 1 Mobile 206.249 ms 0 - 443 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 177.235 ms 3 - 17 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 593.196 ms 1 - 334 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 103.825 ms 3 - 31 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8775P 152.968 ms 1 - 333 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8650P 152.968 ms 1 - 333 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8255P 152.968 ms 1 - 333 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® QCS8450 206.249 ms 0 - 443 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 152.851 ms 3 - 17 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 100.174 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ Q-8750 60.973 ms 0 - 317 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA7255P 593.196 ms 1 - 334 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8295P 169.411 ms 0 - 327 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite Mobile 60.973 ms 0 - 317 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 43.791 ms 2 - 345 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X2 Elite 36.382 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X Elite 66.06 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 52.438 ms 0 - 461 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 105.796 ms 1 - 571 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 421.074 ms 3 - 11 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 68.452 ms 0 - 9 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 193.562 ms 2 - 325 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 66.585 ms 1 - 491 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8775P 62.383 ms 1 - 325 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8650P 62.383 ms 1 - 325 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8255P 62.383 ms 1 - 325 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® QCS8450 105.796 ms 1 - 571 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 62.698 ms 1 - 9 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 66.06 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 1566.549 ms 2 - 783 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 131.361 ms 1 - 513 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 44.679 ms 1 - 336 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA7255P 193.562 ms 2 - 325 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 44.679 ms 1 - 336 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 31.847 ms 1 - 342 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 131.361 ms 1 - 513 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 3 Mobile 76.979 ms 11 - 521 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 1 Mobile 210.817 ms 13 - 513 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-8275 179.156 ms 13 - 133 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-8275 593.609 ms 13 - 322 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 106.264 ms 13 - 185 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8775P 153.741 ms 13 - 323 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8650P 153.741 ms 13 - 323 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8255P 153.741 ms 13 - 323 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® QCS8450 210.817 ms 13 - 513 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-9075 154.001 ms 11 - 130 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ Q-8750 61.777 ms 13 - 310 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA7255P 593.609 ms 13 - 322 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8295P 170.588 ms 13 - 315 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite Mobile 61.777 ms 13 - 310 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 43.676 ms 12 - 332 MB NPU

License

  • The license for the original implementation of RangeNet-Plus-Plus can be found here.

References

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