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isaac_ros_image_segmentation repository

gxf_isaac_ros_segment_anything gxf_isaac_ros_unet isaac_ros_peoplesemseg_models_install isaac_ros_segformer isaac_ros_segment_anything isaac_ros_segment_anything2 isaac_ros_segment_anything2_interfaces isaac_ros_unet

ROS Distro
github

Repository Summary

Description	NVIDIA-accelerated, deep learned semantic image segmentation
Checkout URI	https://github.com/nvidia-isaac-ros/isaac_ros_image_segmentation.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-20
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
gxf_isaac_ros_segment_anything	4.2.0
gxf_isaac_ros_unet	4.2.0
isaac_ros_peoplesemseg_models_install	4.2.0
isaac_ros_segformer	4.2.0
isaac_ros_segment_anything	4.2.0
isaac_ros_segment_anything2	4.2.0
isaac_ros_segment_anything2_interfaces	4.2.0
isaac_ros_unet	4.2.0

README

Isaac ROS Image Segmentation

NVIDIA-accelerated, deep learned semantic image segmentation

Overview

Isaac ROS Image Segmentation contains ROS packages for semantic image segmentation.

These packages provide methods for classification of an input image at the pixel level by running GPU-accelerated inference on a DNN model. Each pixel of the input image is predicted to belong to a set of defined classes. The output prediction can be used by perception functions to understand where each class is spatially in a 2D image or fuse with a corresponding depth location in a 3D scene.

Package	Model Architecture	Description
Isaac ROS U-NET	U-NET	Convolutional network popular for biomedical imaging segmentation models
Isaac ROS Segformer	Segformer	Transformer-based network that works well for objects of varying scale
Isaac ROS Segment Anything	Segment Anything	Segments any object in an image when given a prompt as to which one
Isaac ROS Segment Anything2	Segment Anything2	Segments and tracks any object in a video stream when given a prompt as to which one

Input images may need to be cropped and resized to maintain the aspect ratio and match the input resolution expected by the DNN model; image resolution may be reduced to improve DNN inference performance, which typically scales directly with the number of pixels in the image.

Image segmentation provides more information and uses more compute than object detection to produce classifications per pixel, whereas object detection classifies a simpler bounding box rectangle in image coordinates. Object detection is used to know if, and where spatially in a 2D image, the object exists. On the other hand, image segmentation is used to know which pixels belong to the class. One application is using the segmentation result, and fusing it with the corresponding depth information in order to know an object location in a 3D scene.

Isaac ROS NITROS Acceleration

This package is powered by NVIDIA Isaac Transport for ROS (NITROS), which leverages type adaptation and negotiation to optimize message formats and dramatically accelerate communication between participating nodes.

Performance

Sample Graph	Input Size	AGX Thor T5000	AGX Thor T4000	DGX Spark	x86_64 w/ RTX 5090
SAM Image Segmentation Graph Full SAM	720p	2.26 fps 350 ms @ 30Hz	2.24 fps 290 ms @ 30Hz	2.22 fps 280 ms @ 30Hz	20.8 fps 57 ms @ 30Hz
SAM Image Segmentation Graph Mobile SAM	720p	15.0 fps 230 ms @ 30Hz	15.0 fps 200 ms @ 30Hz	14.6 fps 82 ms @ 30Hz	70.3 fps 20 ms @ 30Hz
TensorRT Graph PeopleSemSegNet	544p	449 fps 8.1 ms @ 30Hz	319 fps 19 ms @ 30Hz	562 fps 6.7 ms @ 30Hz	1330 fps 6.3 ms @ 30Hz

Documentation

Please visit the Isaac ROS Documentation to learn how to use this repository.

Packages

Latest

Update 2026-02-19: Support for DGX Spark and JetPack 7.1

CONTRIBUTING

Isaac ROS Contribution Rules

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).

# Isaac ROS Contribution Rules Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): > **5. Submission of Contributions.** Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. Contributors must sign-off each commit by adding a `Signed-off-by: ...` line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the [Developer Certificate of Origin (DCO)](https://developercertificate.org/). [//]: # (202201002)

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