--- library_name: pytorch license: mit tags: - real_time - bu_auto - android pipeline_tag: other --- ![](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/rangenet_plus_plus/web-assets/model_demo.png) # 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](https://github.com/PRBonn/lidar-bonnetal). This repository contains pre-exported model files optimized for Qualcomm® devices. You can use the [Qualcomm® AI Hub Models](https://github.com/qualcomm/ai-hub-models/blob/v0.64.0/src/qai_hub_models/models/rangenet_plus_plus) library to export with custom configurations. More details on model performance across various devices, can be found [here](#performance-summary). Qualcomm AI Hub Models uses [Qualcomm AI Hub Workbench](https://workbench.aihub.qualcomm.com) to compile, profile, and evaluate this model. [Sign up](https://myaccount.qualcomm.com/signup) 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](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/rangenet_plus_plus/releases/v0.64.0/rangenet_plus_plus-onnx-float.zip) | ONNX | w8a16 | Universal | QAIRT 2.50, ONNX Runtime 1.30.0 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/rangenet_plus_plus/releases/v0.64.0/rangenet_plus_plus-onnx-w8a16.zip) | QNN_DLC | float | Universal | QAIRT 2.50 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/rangenet_plus_plus/releases/v0.64.0/rangenet_plus_plus-qnn_dlc-float.zip) | QNN_DLC | w8a16 | Universal | QAIRT 2.50 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/rangenet_plus_plus/releases/v0.64.0/rangenet_plus_plus-qnn_dlc-w8a16.zip) | TFLITE | float | Universal | QAIRT 2.50 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/rangenet_plus_plus/releases/v0.64.0/rangenet_plus_plus-tflite-float.zip) For more device-specific assets and performance metrics, visit **[RangeNet-Plus-Plus on Qualcomm® AI Hub](https://aihub.qualcomm.com/models/rangenet_plus_plus)**. ### Option 2: Export with Custom Configurations Use the [Qualcomm® AI Hub Models](https://github.com/qualcomm/ai-hub-models/blob/v0.64.0/src/qai_hub_models/models/rangenet_plus_plus) 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](https://github.com/qualcomm/ai-hub-models/blob/v0.64.0/src/qai_hub_models/models/rangenet_plus_plus) 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](https://github.com/PRBonn/lidar-bonnetal/blob/master/LICENSE). ## References * [RangeNet++: Fast and Accurate LiDAR Semantic Segmentation](https://ieeexplore.ieee.org/document/8967762) * [Source Model Implementation](https://github.com/PRBonn/lidar-bonnetal) ## Community * Join [our AI Hub Slack community](https://aihub.qualcomm.com/community/slack) to collaborate, post questions and learn more about on-device AI. * For questions or feedback please [reach out to us](mailto:ai-hub-support@qti.qualcomm.com).