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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 1.30.0 Download
ONNX w8a16 Universal QAIRT 2.50, ONNX Runtime 1.30.0 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 43.643 ms 21 - 357 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Elite For Galaxy Mobile 59.496 ms 23 - 334 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® X2 Elite 49.351 ms 35 - 35 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® X Elite 98.493 ms 102 - 102 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 3 Mobile 77.022 ms 0 - 449 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 1 Mobile 204.893 ms 0 - 445 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-8275 176.809 ms 21 - 28 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 106.323 ms 23 - 25 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® QCS8450 204.893 ms 0 - 445 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-9075 151.522 ms 22 - 28 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-X7181 98.493 ms 102 - 102 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ Q-8750 59.496 ms 23 - 334 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 27.943 ms 12 - 353 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite For Galaxy Mobile 38.489 ms 11 - 344 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X2 Elite 32.559 ms 18 - 18 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X Elite 61.13 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 48.155 ms 0 - 461 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 98.848 ms 0 - 569 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 408.444 ms 24 - 28 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-8275 62.711 ms 10 - 16 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 63.873 ms 0 - 57 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® QCS8450 98.848 ms 0 - 569 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 58.204 ms 14 - 18 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 61.13 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1536.611 ms 0 - 722 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 116.805 ms 29 - 475 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 38.489 ms 11 - 344 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 116.805 ms 29 - 475 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 43.72 ms 3 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite For Galaxy Mobile 60.681 ms 0 - 306 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X2 Elite 49.857 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X Elite 98.523 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 3 Mobile 77.193 ms 3 - 449 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 1 Mobile 175.566 ms 0 - 436 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-8275 176.667 ms 3 - 18 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 100.743 ms 3 - 4 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8775P 150.255 ms 1 - 321 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8650P 150.255 ms 1 - 321 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8255P 150.255 ms 1 - 321 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® QCS8450 175.566 ms 0 - 436 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 150.504 ms 5 - 19 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 98.523 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ Q-8750 60.681 ms 0 - 306 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8295P 166.785 ms 0 - 313 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 26.601 ms 1 - 331 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite For Galaxy Mobile 41.031 ms 1 - 326 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X2 Elite 31.891 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X Elite 61.205 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 48.459 ms 1 - 455 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 96.201 ms 1 - 563 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 403.9 ms 3 - 11 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-8275 63.471 ms 1 - 10 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 61.55 ms 1 - 465 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8775P 58.335 ms 1 - 318 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8650P 58.335 ms 1 - 318 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8255P 58.335 ms 1 - 318 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® QCS8450 96.201 ms 1 - 563 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 58.112 ms 1 - 10 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 61.205 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 1589.712 ms 1 - 704 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 116.336 ms 1 - 436 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 41.031 ms 1 - 326 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8295P 101.827 ms 2 - 412 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 116.336 ms 1 - 436 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite Gen 5 For Galaxy Mobile 43.112 ms 12 - 320 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite For Galaxy Mobile 61.24 ms 12 - 294 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 3 Mobile 77.744 ms 11 - 519 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 1 Mobile 170.829 ms 13 - 504 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-8275 178.898 ms 13 - 134 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 103.55 ms 13 - 148 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8775P 152.693 ms 13 - 308 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8650P 152.693 ms 13 - 308 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8255P 152.693 ms 13 - 308 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® QCS8450 170.829 ms 13 - 504 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-9075 153.757 ms 12 - 132 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ Q-8750 61.24 ms 12 - 294 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA7255P 2403.316 ms 11 - 39 MB GPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8295P 167.72 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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