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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:

  • 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 50.249 ms 35 - 35 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® X Elite 99.955 ms 101 - 101 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 3 Mobile 76.463 ms 0 - 455 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Gen 1 Mobile 217.203 ms 1 - 447 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ QCS8550 (Proxy) 102.101 ms 0 - 138 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® QCS8450 217.203 ms 1 - 447 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-9075 152.799 ms 21 - 26 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ IQ-X7181 99.955 ms 101 - 101 MB NPU
RangeNet-Plus-Plus ONNX float Qualcomm® Dragonwing™ Q-8750 59.683 ms 25 - 344 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Elite Mobile 59.683 ms 25 - 344 MB NPU
RangeNet-Plus-Plus ONNX float Snapdragon® 8 Elite Gen 5 Mobile 43.705 ms 22 - 363 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X2 Elite 37.752 ms 18 - 18 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® X Elite 65.56 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 3 Mobile 50.743 ms 0 - 474 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Gen 1 Mobile 111.168 ms 1 - 584 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS6490 422.1 ms 13 - 17 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 67.594 ms 0 - 58 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® QCS8450 111.168 ms 1 - 584 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-9075 68.952 ms 13 - 17 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ IQ-X7181 65.56 ms 52 - 52 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Qualcomm® Dragonwing™ Q-8750 44.656 ms 13 - 357 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite Mobile 44.656 ms 13 - 357 MB NPU
RangeNet-Plus-Plus ONNX w8a16 Snapdragon® 8 Elite Gen 5 Mobile 31.707 ms 12 - 361 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X2 Elite 49.228 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® X Elite 99.676 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 3 Mobile 76.707 ms 3 - 457 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Gen 1 Mobile 186.021 ms 2 - 445 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ QCS8275 591.087 ms 2 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ QCS8550 (Proxy) 101.404 ms 3 - 4 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8775P 151.457 ms 1 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8650P 151.457 ms 1 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8255P 151.457 ms 1 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® QCS8450 186.021 ms 2 - 445 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-9075 151.442 ms 3 - 17 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ IQ-X7181 99.676 ms 3 - 3 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® Dragonwing™ Q-8750 59.104 ms 0 - 318 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA7255P 591.087 ms 2 - 332 MB NPU
RangeNet-Plus-Plus QNN_DLC float Qualcomm® SA8295P 168.089 ms 0 - 325 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite Mobile 59.104 ms 0 - 318 MB NPU
RangeNet-Plus-Plus QNN_DLC float Snapdragon® 8 Elite Gen 5 Mobile 42.935 ms 3 - 344 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X2 Elite 35.413 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® X Elite 64.031 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 3 Mobile 51.51 ms 0 - 455 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Gen 1 Mobile 102.817 ms 1 - 568 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS6490 415.398 ms 3 - 11 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8275 192.032 ms 2 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ QCS8550 (Proxy) 64.24 ms 1 - 4 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8775P 62.8 ms 1 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8650P 62.8 ms 1 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8255P 62.8 ms 1 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® QCS8450 102.817 ms 1 - 568 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-9075 63.197 ms 1 - 9 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ IQ-X7181 64.031 ms 1 - 1 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-6690 1565.631 ms 1 - 713 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-7790 120.593 ms 1 - 445 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® Dragonwing™ Q-8750 43.882 ms 2 - 340 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA7255P 192.032 ms 2 - 322 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Qualcomm® SA8295P 104.143 ms 2 - 431 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite Mobile 43.882 ms 2 - 340 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 8 Elite Gen 5 Mobile 31.168 ms 1 - 344 MB NPU
RangeNet-Plus-Plus QNN_DLC w8a16 Snapdragon® 7 Gen 4 Mobile 120.593 ms 1 - 445 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 3 Mobile 80.492 ms 10 - 516 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Gen 1 Mobile 209.919 ms 10 - 509 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ QCS8275 595.971 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ QCS8550 (Proxy) 104.209 ms 10 - 186 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8775P 155.354 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8650P 155.354 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8255P 155.354 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® QCS8450 209.919 ms 10 - 509 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ IQ-9075 155.53 ms 10 - 127 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® Dragonwing™ Q-8750 62.819 ms 10 - 303 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA7255P 595.971 ms 10 - 317 MB NPU
RangeNet-Plus-Plus TFLITE float Qualcomm® SA8295P 173.168 ms 10 - 312 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite Mobile 62.819 ms 10 - 303 MB NPU
RangeNet-Plus-Plus TFLITE float Snapdragon® 8 Elite Gen 5 Mobile 43.71 ms 0 - 319 MB NPU

License

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

References

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