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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 2.50, ONNX Runtime 1.27.1 Download
ONNX w8a16 Universal QAIRT 2.50, ONNX Runtime 1.27.1 Download
QNN_DLC float Universal QAIRT 2.50 Download
QNN_DLC w8a16 Universal QAIRT 2.50 Download
TFLITE float Universal QAIRT 2.50 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® 8 Elite Gen 5 For Galaxy Mobile 43.136 ms 24 - 360 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Elite For Galaxy Mobile 59.67 ms 21 - 332 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® X2 Elite 49.72 ms 33 - 33 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® X Elite 98.486 ms 101 - 101 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 3 Mobile 76.691 ms 0 - 450 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 1 Mobile 222.22 ms 1 - 446 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-8275 176.55 ms 21 - 28 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 102.453 ms 0 - 112 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® QCS8450 222.22 ms 1 - 446 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-9075 150.417 ms 21 - 27 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-X7181 98.486 ms 101 - 101 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ Q-8750 59.67 ms 21 - 332 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 28.087 ms 11 - 353 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite For Galaxy Mobile 38.797 ms 14 - 346 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X2 Elite 32.071 ms 18 - 18 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X Elite 60.977 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 48.393 ms 0 - 460 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 95.074 ms 0 - 570 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 408.191 ms 26 - 31 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 62.931 ms 11 - 16 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 61.608 ms 0 - 58 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® QCS8450 95.074 ms 0 - 570 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 58.107 ms 14 - 18 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 60.977 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1592.222 ms 0 - 726 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 118.454 ms 28 - 476 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 38.797 ms 14 - 346 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 118.454 ms 28 - 476 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 44.729 ms 3 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite For Galaxy Mobile 60.768 ms 0 - 304 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X2 Elite 49.596 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X Elite 98.956 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 3 Mobile 77.224 ms 3 - 451 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 1 Mobile 181.194 ms 3 - 439 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 176.544 ms 3 - 18 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 100.72 ms 3 - 5 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8650P 152.862 ms 1 - 334 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8255P 152.862 ms 1 - 334 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® QCS8450 181.194 ms 3 - 439 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 150.135 ms 3 - 17 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 98.956 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ Q-8750 60.768 ms 0 - 304 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA7255P 592.921 ms 1 - 319 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8295P 166.76 ms 0 - 312 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 26.981 ms 1 - 330 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite For Galaxy Mobile 40.943 ms 1 - 326 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X2 Elite 32.084 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X Elite 61.492 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 48.449 ms 1 - 452 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 98.146 ms 1 - 563 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 403.134 ms 3 - 11 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 63.646 ms 1 - 10 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 61.311 ms 1 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8650P 62.375 ms 1 - 326 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8255P 62.375 ms 1 - 326 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® QCS8450 98.146 ms 1 - 563 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 57.543 ms 1 - 9 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 61.492 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 1598.647 ms 2 - 704 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 115.095 ms 1 - 437 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 40.943 ms 1 - 326 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA7255P 186.577 ms 2 - 318 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8295P 101.809 ms 2 - 412 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 115.095 ms 1 - 437 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 43.631 ms 0 - 307 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite For Galaxy Mobile 61.186 ms 12 - 296 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 3 Mobile 78.205 ms 12 - 522 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 1 Mobile 186.706 ms 13 - 504 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-8275 178.935 ms 13 - 134 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 100.128 ms 5 - 401 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8650P 153.857 ms 13 - 322 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8255P 153.857 ms 13 - 322 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® QCS8450 186.706 ms 13 - 504 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-9075 153.321 ms 12 - 132 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ Q-8750 61.186 ms 12 - 296 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA7255P 592.906 ms 13 - 307 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8295P 167.763 ms 13 - 301 MB NPU

License

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

References

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