{"id":28421688,"url":"https://github.com/nvidia-isaac-ros/isaac_ros_image_segmentation","last_synced_at":"2026-05-01T05:01:44.129Z","repository":{"id":37506153,"uuid":"424743287","full_name":"NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation","owner":"NVIDIA-ISAAC-ROS","description":"NVIDIA-accelerated, deep learned semantic image 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unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ai","dnn","gpu","image-segmentation","inference","jetson","nvidia","ros2","ros2-humble","tensorrt"],"created_at":"2025-06-05T06:09:18.138Z","updated_at":"2026-05-01T05:01:44.124Z","avatar_url":"https://github.com/NVIDIA-ISAAC-ROS.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Isaac ROS Image Segmentation\n\nNVIDIA-accelerated, deep learned semantic image segmentation\n\n\u003cdiv align=\"center\"\u003e\u003cimg alt=\"sample input to image segmentation\" src=\"https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.4/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_image_segmentation_example.png/\" width=\"320px\"/\u003e\n\u003cimg alt=\"sample output from image segmentation\" src=\"https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.4/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_image_segmentation_example_seg.png/\" width=\"320px\"/\u003e\u003c/div\u003e\n\n## Overview\n\nIsaac ROS Image Segmentation contains ROS packages for semantic image segmentation.\n\nThese packages provide methods for classification of an input image\nat the pixel level by running GPU-accelerated inference on a DNN model.\nEach pixel of the input image is predicted to belong to a set of defined classes.\nThe output prediction can be used by perception functions to understand where each\nclass is spatially in a 2D image or fuse with a corresponding depth location in a 3D scene.\n\n\u003cdiv align=\"center\"\u003e\u003ca class=\"reference internal image-reference\" href=\"https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.4/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_image_segmentation_nodegraph.png/\"\u003e\u003cimg alt=\"image\" src=\"https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.4/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_image_segmentation_nodegraph.png/\" width=\"500px\"/\u003e\u003c/a\u003e\u003c/div\u003e\n\n| Package                                                                                                                                                                    | Model Architecture                                                                                          | Description                                                                          |\n|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------|\n| [Isaac ROS U-NET](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html#quickstart)                          | [U-NET](https://en.wikipedia.org/wiki/U-Net)                                                                | Convolutional network popular for biomedical imaging segmentation models             |\n| [Isaac ROS Segformer](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html#quickstart)                 | [Segformer](https://arxiv.org/abs/2105.15203)                                                               | Transformer-based network that works well for objects of varying scale               |\n| [Isaac ROS Segment Anything](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything/index.html#quickstart)   | [Segment Anything](https://github.com/facebookresearch/segment-anything)                                    | Segments any object in an image when given a prompt as to which one                  |\n| [Isaac ROS Segment Anything2](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything2/index.html#quickstart) | [Segment Anything2](https://ai.meta.com/research/publications/sam-2-segment-anything-in-images-and-videos/) | Segments and tracks any object in a video stream when given a prompt as to which one |\n\nInput images may need to be cropped and resized to maintain the aspect ratio and match the input\nresolution expected by the DNN model; image resolution may be reduced to improve\nDNN inference performance, which typically scales directly with the\nnumber of pixels in the image.\n\n\u003cdiv align=\"center\"\u003e\u003ca class=\"reference internal image-reference\" href=\"https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.4/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_image_segmentation_example_bboxseg.png/\"\u003e\u003cimg alt=\"image\" src=\"https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.4/resources/isaac_ros_docs/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_image_segmentation_example_bboxseg.png/\" width=\"320px\"/\u003e\u003c/a\u003e\u003c/div\u003e\n\nImage segmentation provides more information and uses more compute than\nobject detection to produce classifications per pixel, whereas object\ndetection classifies a simpler bounding box rectangle in image\ncoordinates. Object detection is used to know if, and where spatially in\na 2D image, the object exists. On the other hand, image segmentation is used to know which\npixels belong to the class. One application is using the segmentation result, and fusing it with the corresponding depth\ninformation in order to know an object location in a 3D scene.\n\n## Isaac ROS NITROS Acceleration\n\nThis package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://developer.nvidia.com/blog/improve-perception-performance-for-ros-2-applications-with-nvidia-isaac-transport-for-ros/), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes.\n\n## Performance\n\n| Sample Graph\u003cbr/\u003e\u003cbr/\u003e                                                                                                                                                                                                                         | Input Size\u003cbr/\u003e\u003cbr/\u003e   | AGX Thor T5000\u003cbr/\u003e\u003cbr/\u003e                                                                                                                                                    | AGX Thor T4000\u003cbr/\u003e\u003cbr/\u003e                                                                                                                                                      | DGX Spark\u003cbr/\u003e\u003cbr/\u003e                                                                                                                                                         | x86_64 w/ RTX 5090\u003cbr/\u003e\u003cbr/\u003e                                                                                                                                               |\n|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|\n| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_segment_anything_graph.py)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003eFull SAM\u003cbr/\u003e\u003cbr/\u003e          | 720p\u003cbr/\u003e\u003cbr/\u003e         | [2.26 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_sam_graph-agx_thor.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e350 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e        | [2.24 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_sam_graph-thor-t4000.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e290 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e        | [2.22 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_sam_graph-dgx_spark.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e280 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e       | [20.8 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_sam_graph-x86-5090.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e57 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e        |\n| [SAM Image Segmentation Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/benchmarks/isaac_ros_segment_anything_benchmark/scripts/isaac_ros_mobile_segment_anything_graph.py)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003eMobile SAM\u003cbr/\u003e\u003cbr/\u003e | 720p\u003cbr/\u003e\u003cbr/\u003e         | [15.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_mobile_sam_graph-agx_thor.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e230 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e | [15.0 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_mobile_sam_graph-thor-t4000.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e200 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e | [14.6 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_mobile_sam_graph-dgx_spark.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e82 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e | [70.3 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_mobile_sam_graph-x86-5090.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e20 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e |\n| [TensorRT Graph](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/benchmarks/isaac_ros_unet_benchmark/scripts/isaac_ros_unet_graph.py)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003ePeopleSemSegNet\u003cbr/\u003e\u003cbr/\u003e                                         | 544p\u003cbr/\u003e\u003cbr/\u003e         | [449 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_unet_graph-agx_thor.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e8.1 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e        | [319 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_unet_graph-thor-t4000.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e19 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e         | [562 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_unet_graph-dgx_spark.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e6.7 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e       | [1330 fps](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_benchmark/blob/release-4.4/results/isaac_ros_unet_graph-x86-5090.json)\u003cbr/\u003e\u003cbr/\u003e\u003cbr/\u003e6.3 ms @ 30Hz\u003cbr/\u003e\u003cbr/\u003e      |\n\n---\n\n## Documentation\n\nPlease visit the [Isaac ROS Documentation](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/index.html) to learn how to use this repository.\n\n---\n\n## Packages\n\n* [`isaac_ros_segformer`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html)\n  * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html#quickstart)\n  * [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html#try-more-examples)\n  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html#troubleshooting)\n  * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segformer/index.html#api)\n* [`isaac_ros_segment_anything`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything/index.html)\n  * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything/index.html#quickstart)\n  * [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything/index.html#try-more-examples)\n  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything/index.html#troubleshooting)\n  * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything/index.html#api)\n* [`isaac_ros_segment_anything2`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything2/index.html)\n  * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything2/index.html#quickstart)\n  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything2/index.html#troubleshooting)\n  * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything2/index.html#api)\n* [`isaac_ros_segment_anything2_interfaces`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_segment_anything2_interfaces/index.html)\n* [`isaac_ros_unet`](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html)\n  * [Quickstart](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html#quickstart)\n  * [Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html#try-more-examples)\n  * [Troubleshooting](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html#troubleshooting)\n  * [API](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_image_segmentation/isaac_ros_unet/index.html#api)\n\n## Latest\n\nUpdate 2026-04-30: Compatibility and integration updates for the Isaac ROS 4.4.0 release\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnvidia-isaac-ros%2Fisaac_ros_image_segmentation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fnvidia-isaac-ros%2Fisaac_ros_image_segmentation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnvidia-isaac-ros%2Fisaac_ros_image_segmentation/lists"}