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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 1.25.0 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:

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

Performance Summary

Model Runtime Precision Chipset Inference Time (ms) Peak Memory Range (MB) Primary Compute Unit
RangeNet-Plus-Plus ONNX float Snapdragon® X2 Elite 50.185 ms 35 - 35 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® X Elite 99.855 ms 101 - 101 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 3 Mobile 76.089 ms 0 - 453 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 1 Mobile 194.334 ms 20 - 467 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 105.21 ms 23 - 26 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® QCS8450 194.334 ms 20 - 467 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-9075 152.411 ms 21 - 26 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Elite Gen 5 Mobile 44.041 ms 24 - 364 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Elite Mobile 59.563 ms 24 - 342 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ Q-8750 59.563 ms 24 - 342 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-X7181 99.855 ms 101 - 101 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X2 Elite 37.698 ms 18 - 18 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X Elite 65.62 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 50.478 ms 14 - 489 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 110.317 ms 1 - 583 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 420.396 ms 11 - 15 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 66.827 ms 11 - 14 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® QCS8450 110.317 ms 1 - 583 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 7 Gen 4 Mobile 127.11 ms 16 - 536 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite Gen 5 Mobile 31.79 ms 12 - 363 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-6690 1554.648 ms 4 - 799 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite Mobile 45.05 ms 13 - 357 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-7790 127.11 ms 16 - 536 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 45.05 ms 13 - 357 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 65.62 ms 52 - 52 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X2 Elite 49.303 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X Elite 99.544 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 3 Mobile 76.893 ms 1 - 450 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 1 Mobile 196.172 ms 0 - 442 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® QCS8275 591.086 ms 1 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 102.54 ms 3 - 4 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8775P 151.454 ms 1 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8650P 151.454 ms 1 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8255P 151.454 ms 1 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® QCS8450 196.172 ms 0 - 442 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 151.158 ms 5 - 19 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 42.227 ms 3 - 342 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA7255P 591.086 ms 1 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite Mobile 59.308 ms 2 - 320 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8295P 168.089 ms 0 - 325 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ Q-8750 59.308 ms 2 - 320 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 99.544 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X2 Elite 35.294 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X Elite 63.823 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 50.431 ms 0 - 457 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 101.458 ms 1 - 569 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 415.697 ms 1 - 9 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® QCS8275 192.142 ms 2 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 64.276 ms 1 - 4 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8775P 62.794 ms 1 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8650P 62.794 ms 1 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8255P 62.794 ms 1 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® QCS8450 101.458 ms 1 - 569 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 120.558 ms 1 - 451 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 31.394 ms 1 - 344 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 1523.969 ms 1 - 713 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 62.754 ms 1 - 9 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA7255P 192.142 ms 2 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 44.019 ms 1 - 338 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8295P 104.095 ms 2 - 431 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 120.558 ms 1 - 451 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 44.019 ms 1 - 338 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 63.823 ms 1 - 1 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 3 Mobile 80.467 ms 10 - 516 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 1 Mobile 199.33 ms 0 - 499 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® QCS8275 595.949 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 104.342 ms 10 - 226 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8775P 155.505 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8650P 155.505 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8255P 155.505 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® QCS8450 199.33 ms 0 - 499 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-9075 167.687 ms 0 - 107 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 43.828 ms 10 - 330 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA7255P 595.949 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite Mobile 62.774 ms 8 - 306 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8295P 173.207 ms 10 - 312 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ Q-8750 62.774 ms 8 - 306 MB NPU

License

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

References

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