---
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/v0.63.0/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 1.27.1 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/rangenet_plus_plus/releases/v0.63.0/rangenet_plus_plus-onnx-float.zip)
| ONNX | w8a16 | Universal | QAIRT 2.50, ONNX Runtime 1.27.1 | [Download](https://qaihub-public-assets.s3.us-west-2.amazonaws.com/qai-hub-models/models/rangenet_plus_plus/releases/v0.63.0/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/v0.63.0/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/v0.63.0/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/v0.63.0/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/v0.63.0/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/v0.63.0/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 | 43.136 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](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).