Instance Segmentation
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16 papers in the last four weeks, up 78% on the four weeks before. 0.2% of all new papers.
Latest papers 96
Pretrained models for cell and nuclear instance segmentation differ substantially in architecture, pretraining data and objectives, parameter count, inference strategy, adaptation requirements, postprocessing pipeline, and computational demand. Large pretrained and foundation models are increasingly adopted because of their strong zero-shot capabilities, but their use also imposes greater energy consumption, memory requirements, computational demands, adaptation costs, and operational carbon emissions. Whether these additional demands are justified by meaningful gains in segmentation performance remains unclear. We address this question by introducing the Sustainability-Aware Performance Index (SAPI), a configurable metric that combines segmentation performance, energy consumption, and model size. We benchmark 19 pretrained and foundation models across six CellBinDB datasets under zero-shot inference and evaluate 16 fine-tunable models using few-shot adaptation with both frozen encoder and full-model fine-tuning. We estimate energy consumption for GPU, CPU, and RAM using software-based monitoring tools. Our results show that larger and more computationally demanding models do not consistently achieve proportionate improvements in segmentation quality. While few-shot adaptation benefits several models, the gains and resource costs vary considerably across architectures, datasets, and adaptation strategies, causing SAPI-based rankings to differ from rankings based on performance alone. This study provides a practical framework for comparing segmentation models more comprehensively and supports more computationally accessible and environmentally responsible model selection in biomedical image analysis.
Towards benchmarking Western Bluebird detection in the wild
Bird monitoring in natural environments is challenging due to the small size of some species of birds relative to the scene, background clutter, variability in illumination, and the observers' viewpoint. Progress is further limited by the scarcity of large-scale, realistic datasets, which are essential for understanding behavioral patterns. To address this gap, we introduce a new benchmark dataset for the detection and segmentation of Western bluebirds (Sialia Mexicana), comprising over 6,000 labeled images from 41 recording sessions. The dataset features high-resolution (4K) in-the-wild images in which birds occupy only a small fraction of the image. We evaluated supervised detectors, open-vocabulary models under zero-shot and fine-tuned settings, and segmentation approaches. Supervised detectors remain the most reliable overall, with Faster R-CNN achieving the highest detection mAP and RT-DETR offering the best precision-recall trade-off. Open-vocabulary models perform poorly in zero-shot settings; however, fine-tuning substantially improves their performance, with YOLO-World becoming competitive with supervised methods and achieving the highest precision, F1-score, and [email protected]. For segmentation, supervised methods significantly outperform Grounded-SAM and SAM 3: Mask R-CNN achieves the highest mask mAP, while YOLOv8-Seg provides the best precision and fastest inference. A diagnostic analysis further shows that failures are not explained by object size alone, but by a combination of apparent scale, brightness, contrast, clutter, blur, crowding, and recording-session variation. Overall, our findings highlight the difficulty of zero-shot bird detection in cluttered ecological scenes and underscore the importance of domain adaptation in small-object settings.
Towards Automatic Video Annotation with ASH: Zero-Shot Open-Vocabulary Multi-Object Tracking and Segmentation
Memory-attention-based Video Instance Segmentation (VIS) methods have demonstrated strong zero-shot tracking capability, yet their substantial memory requirements confine them to short video clips and their single-prompt inference design makes multi-category open-vocabulary tracking computationally prohibitive. This work introduces two contributions toward fully automated tracking annotation of arbitrary video. The Generalized Presence Token (GPT) reformulates SAM3's inference pipeline to process N text prompts simultaneously via virtual prompt batching, reducing image encoding cost from O(N) to O(1) with no modifications to any learned component. The Annotation and Segmentation Handler (ASH) extends any memory-attention VIS tracker to sequences of arbitrary length through overlapping temporal chunks with IoU-based inter-chunk identity matching, requiring no dataset-specific training. Instantiated on SAM3, the resulting pipeline -- SAM3-ASH -- achieves state-of-the-art HOTA on MOTS20 under fully zero-shot conditions and remains competitive with trained specialists across seven additional benchmarks, while peak GPU memory consumption stays below 25 GB, establishing a practical baseline for scalable, training-free automated video annotation.
UGO: Unified Architecture for General Multi-Object Tracking by Segmentation
General multi-object tracking (GMOT) tracks all instances of a user-specified category from a single first-frame exemplar. Prior work relies on bounding boxes and surrogate training, and struggles with non-rigid objects, crowded scenes, and distractors. We introduce UGO, a unified GMOT tracker that pairs a pretrained exemplar-conditioned detection head with an instance-propagation head in a common architecture. A novel training-free, energy-minimization consolidation method converts overlapping proposals into exclusive pixel-wise masks and detections, resolving over-segmentation, duplicates, and conflicts. A hierarchical memory spanning global and instance levels improves recall and per-instance segmentation accuracy using a new memory management protocol. UGO sets a new state-of-the-art on GMOT benchmarks and video object counting, and is competitive with specialist MOT methods, establishing a strong paradigm for unified, open-category multi-object tracking.
ProGuT: Label-Efficient Panoptic Segmentation for Forest Scenes
Panoptic segmentation in forest environments is bottlenecked not by semantic quality but by instance separation; existing unsupervised panoptic approaches produce usable stuff maps but near-zero thing quality. Depth or flow-based instance discovery methods needs sensors that are not always available. We present ProGuT (Prototype Guided Training), which produces panoptic pseudo-labels without per-image training masks, needing only unlabeled images and one-time cluster-to-class mapping. ProGuT clusters CLIP patch features, then recovers trunk instances through multiscale geometric prior that falsifies non-trunk structures via structure-tensor. This is cheap compared to depth, flow or class-supervision methods to create pseudo labels. These are then used for downstream tasks which we evaluate against other unsupervised baselines. ProGuT achieves a Panoptic Quality (PQ) of 65.2 on Our-forest dataset (2.6x improvement over the initial pseudo-label quality) and reaches 65.9 mIoU on Freiburg Forest, outperforming unsupervised baselines like PiCIE (45.3 IoU) and STEGO(57.6IoU). Additionally, ProGuT outperforms existing unsupervised methods for class-agnostic trunk instance benchmark.
S4VY: Segment Anything in Feed-Forward 4D Visual Geometry
Accurate instance segmentation in dynamic scenes is important for downstream applications such as robotics and autonomous driving. Existing Segment Anything models operate primarily on 2D image or video masks and preserve identity through sequential memory, while promptable 4D instance segmentation built upon feed-forward visual geometry remains underexplored. We introduce S4VY, a Segment Anything model built on feed-forward 4D visual geometry. From a set of RGB observations, S4VY transforms shared visual-geometric features into an exhaustive set of class-agnostic 4D instance masks through a space-time query decoder, with each persistent object query binding one entity across all observations. This representation supports prompt-independent segmentation as well as point- and box- conditioned selection, without requiring a seed mask or temporal ordering. We further develop an agentic harness for natural-language grounding in the large observation space of a 4D scene. Active tree search identifies relevant frames without scanning every fixed window; a dual-stream grounder combines fine-grained VLM visual priors with geometry-consistent instance features through complementary bounding-box prediction and object-query matching; and an independent critic selects the final 4D instance mask from their predictions. Extensive experiments demonstrate state-of-the-art 4D instance segmentation and strong language-guided grounding performance under a unified evaluation spanning static and dynamic scenes.
Learning to Reason with Persistent Object States for Video Instance Segmentation
Video segmentation models maintain object identities by carrying instance information across frames. Under prolonged occlusion, reappearance, or interactions between similar instances, however, an unreliable update can overwrite a valid history and cause persistent identity drift. We introduce POSReasoner, a trainable, plug-and-play framework that explicitly decides when an observation should change an object's state. Each persistent state records identity, confidence, and absence history. A sparse state-observation graph supports Propose-Verify reasoning: provisional associations are revisited using object history, predicted presence, and competition among identities. The verified decisions determine whether to retain, update, reactivate, or suppress each state, while a learned gate controls the evidence written back to memory. Only verified transitions update the persistent state used in subsequent frames. POSReasoner uses standard video annotations and keeps the base model frozen, enabling integration with diverse VOS and VIS architectures. Experiments across long-term VOS and VIS benchmarks show consistent improvements over strong baselines, with the largest gains under occlusion and object reappearance.
From UNI2-h to ConvNeXt-T: Lightweight Nuclei Instance Segmentation via Knowledge Distillation
Nuclei instance segmentation is a core task in digital pathology, yet high-accuracy models rely on large vision transformer (ViT) encoders whose inference speed cannot meet real-time clinical demands. We propose a lightweight scheme that distills the UNI2-h pathology foundation model into a ConvNeXt-Tiny student (Ours-T, 34.7M parameters, 1/20 of the teacher) via output-level knowledge distillation. Ours-T achieves an mPQ of 0.519 on PanNuke (98.8% of the teacher), a zero-shot bPQ of 0.668 on MoNuSeg, and an inference speed of 634.3 img/s, requiring only 0.045 s for full-resolution 1024^2 analysis (21.8x speedup). Experiments further show that multi-scale gated convolution (MALA) yields no gain under ViT encoders, and output-level distillation alone suffices for efficient knowledge transfer.
BiCC: Bidirectional Connected-Component Loss for Instance-Aware Segmentation
Common segmentation losses aggregate errors voxel-wise, so lesions influence the objective in proportion to their volume, giving small but clinically critical lesions disproportionately little weight. Instance-aware losses aim to address this mismatch by assigning each lesion its own term. However, blob loss and CC-DiceCE derive their regions solely from annotations, so false-positive components receive no instance-level term. This matters in computer-assisted review, where each false-positive component may require separate inspection, making precision and false-positive burden important alongside recall. We introduce the bidirectional connected-component loss (BiCC), which pairs annotation- and prediction-derived partitions to score predicted components on their own scale. By deriving instances from the predictions, this branch directly penalizes false-positive components regardless of their size. The balance parameter allows control over the lesion-wise precision-recall trade-off. Across five datasets with five-fold cross-validation using nnU-Net, BiCC outperforms CC-DiceCE in lesion-wise F1 on four datasets and blob loss on all five. It significantly improves over DiceCE on three datasets and matches it on two; CC-DiceCE instead loses up to 0.363 precision by favoring recall. Code is available at https://github.com/TIO-IKIM/BiCC-Loss.
SAM-V: Geometry-Aware Segment Anything for Multi-View Instance Segmentation
Consistent multi-view object segmentation is critical for 3D perception and robotics, yet remains challenging under severe viewpoint and occlusion changes. Existing methods typically perform 3D instance segmentation on point clouds or rely on offline 2D mask-matching pipelines. However, 3D instance segmentation is limited by scarce 3D annotations, while offline 2D matching suffers from object identity ambiguity across frames. To leverage strong 2D and 3D priors jointly, we propose SAM-V (Geometry-Aware Segment Anything for Multi-View Instance Segmentation). Instead of combining the two priors through post-hoc matching, SAM-V directly integrates features from a feed-forward geometry model (VGGT) into a 2D segmentation foundation model (SAM), trained end-to-end for cross-view instance prediction. SAM-V introduces a prompt-fusion mechanism that enriches sparse SAM prompt tokens with view-specific camera tokens and local VGGT features, making the prompt representation both view-aware and spatially grounded, together with a mask decoder that attends to dense 2D and 3D features. By conditioning the mask decoding directly on multi-view geometry, SAM-V produces consistent multi-view segmentation of a prompted object in a single forward pass without offline mask matching or explicit 3D reconstruction. On the IGGT 3D tracking benchmark, where consistent instance identity across frames directly determines performance, SAM-V improves overall IoU by 5 points and frame-level recall by 12 points on the ScanNet++ split over the state-of-the-art multi-view instance segmentation baseline and leads on all metrics in the zero-shot ScanNet split. Our code and pretrained models are available at https://github.com/gong208/SAM-V.git.
SRPR-Net: Semantic and Relational Prompt Refinement for Automated SAM-based Instance Segmentation
Instance segmentation is a fundamental computer vision task with diverse real-world applications. Recently, prompt-driven foundation models have shown promising generalization. However, automated prompting remains limited by insufficient semantic guidance and inter-instance modeling. To address this challenge, we propose a novel architecture, named Semantic Relational Prompt Refinement Network (SRPR-Net), for automated SAM-based instance segmentation. A sequential prompt refinement mechanism is introduced to enrich detector geometry with visual-language semantics and then incorporate same-image instance dependencies, enabling context-aware box adjustment before SAM segmentation. Experiments on multiple standard benchmarks demonstrate that SRPR-Net achieves consistent improvements in segmentation performance over existing state-of-the-art approaches. The code is publicly available at https://github.com/JeremyXSC/SRPR-Net.
Socialized UAV Cross-Task Learning: Towards Cross-Granularity Collaboration through Hierarchical Interaction
Joint learning across heterogeneous tasks is often treated as task coupling through feature sharing, distillation, or auxiliary supervision. However, in cross-task learning, mismatched representational and supervisory granularities make such coupling prone to interference, teacher bias, or unidirectional collapse. We argue that cross-granularity learning is fundamentally a problem of hierarchical interaction regulation rather than simple task coupling. This issue is particularly evident in UAV perception, where visual shifts and detection--segmentation objectives naturally form coarse- and fine-grained knowledge sources. To systematically study this problem, we introduce CrossUAV, a UAV benchmark for joint object detection and instance segmentation that provides a unified evaluation platform for cross-granularity task collaboration. To address these challenges, we propose Cross-Granularity Socialized Collaboration (CGSC), a progressive and adaptive framework that regulates when, where, and how tasks exchange information across network hierarchies. CGSC progressively activates cross-task interactions and adaptively adjusts the strength according to task contribution, suppressing harmful interference while exploiting complementary coarse- and fine-grained structures. Extensive experiments demonstrate consistent improvements on both tasks, validating hierarchical dynamic interaction as an effective mechanism for cross-granularity collaboration.
Selective Cotton Boll Localization for Robotic Harvesting: Evaluation of Deep Learning Vision Models Under Field Conditions
This study developed and evaluated a deep-learning-based perception framework for selective robotic cotton picking. The dataset contained 1,008 annotated field images collected using three cameras under varying natural lighting and weather conditions. Object-detection models from the YOLOv8 through YOLOv13 families were evaluated using their default configurations, while segmentation performance was assessed using YOLOv8-seg, YOLOv11-seg, YOLOv12-seg, the Segment Anything Model (SAM), SAMv2.1, FastSAM, and Grounded-SAM with the Recognize Anything Model (RAM). Among the detection models, GELAN-s achieved the most favorable balance between mean average precision (mAP) and inference speed, obtaining an mAP of 86.1%, precision of 81.6%, recall of 76.6%, and an F1-score of 79.0%, with an average inference time of 42.3 ms per image. Among the direct segmentation models, YOLOv12-m-seg provided the most favorable balance between [email protected] and FPS, achieving a segmentation [email protected] of 83.7% with an inference time of 20.4 ms per image. In the detection-prompted segmentation approach, bounding-box prompts generated by GELAN-s improved the localization of cotton bolls for SAM and SAMv2.1, while SAMv2.1 Tiny consistently outperformed FastSAM and Grounded-SAM with RAM. In the area-based evaluation against manually annotated segmentation masks, YOLOv12-m-seg achieved an value of 0.966, compared with 0.860 for GELAN-s + SAMv2.1 Tiny. Field experiments conducted using a UR5e robotic manipulator, a custom end-effector, and a ZED2i stereo camera further validated the effectiveness of the YOLOv12-m-seg model for real-time cotton boll detection, segmentation, and selective picking under varying confidence levels. These results demonstrate that YOLOv12-m-seg provides an efficient perception model for robotic cotton harvesting and has strong potential for field deployment.
TAPe+ML: A Compact Structured Representation for Multi-Task Computer Vision
We present TAPe+ML v3, a compact computer vision system based on TAPe (Theory of Active Perception), a structured representation that encodes relations among perceptual elements before recognition. Instead of operating directly on pixel tensors, the system uses a shared TAPe representation and a modular recognition architecture for image classification, object detection, and instance segmentation. TAPe+ML v3 combines background and contour processing, local object localization, prototype-based classification, and a coordinator for specialized submodels. Across the reported experiments, it uses fewer than 100,000 parameters. On COCO object detection, it obtains 84.7 mAP50 and 65.3 mAP50-95. On COCO instance segmentation, it obtains 80.7 mask mAP50 and 58.4 mask mAP50-95. In classification experiments, it reaches 92 percent validation accuracy on Imagenette under an identical-training comparison with a raw-pixel baseline, and 89.9 percent Top-1 accuracy on ImageNet-Real. We also evaluate compactness in video scene detection and adaptation under distribution shift in an industrial pilot. The results suggest that shifting part of the modeling burden from network parameters to a structured input representation can support compact multi-task vision systems with reduced data, memory, and compute requirements.
Accelerated Decoding of Centroid Positional Encoding for Instance Segmentation
Beyond model inference, the decoding stage, which converts raw network outputs into task-level representations, constitutes a significant portion of the execution cost. Despite its practical impact, prediction decoding has received comparatively little attention and is often implemented using generic CPU routines or inefficient GPU kernels, limiting the benefits of advances in model efficiency. In this work, we investigate the decoding overhead associated with a recent sinusoidal centroid encoding for Instance Segmentation, in which each pixel regresses a positional embedding of its instance centroid. This approach allows flexible segmentation without predefined proposals, but extracting instance masks from dense embeddings incurs a high computational cost. We present an optimized CUDA-based implementation of the decoding algorithm tailored to this encoding, explicitly addressing challenges related to parallelization, synchronization, and memory access on modern GPUs. Our solution significantly reduces decoding overhead and improves End-to-End inference latency, outperforming both CPU-based approaches and naive GPU implementations. The results demonstrate that efficient decoding is essential to fully exploit the advantages of advanced output representations and highlight the importance of jointly designing encoding schemes and their decoding algorithms for real-time computer vision systems.
EgoMaize: A First-Person Maize Instance Segmentation Benchmark under Severe Field Occlusion
Close-range first-person field images are important for mobile maize phenotyping because many plant-level traits depend on in-canopy structures that are difficult to ob serve from overhead views. However, post-seedling maize fields create a difficult in stance segmentation setting: stems, leaves, tassels, and neighboring plants are elon gated, repetitive, and strongly occluded. We introduce EgoMaize, a compact benchmark for first-person maize instance segmentation, where the task is to predict ownership consistent plant masks and plant-owned stem/tassel cues from close-range field images with severe same-class overlap. Existing visible-only labels can fragment one physi cal plant into disconnected supervision, while full-amodal labels may require unverifi able completion behind neighboring plants or field objects. EgoMaize therefore uses an evidence-closed annotation workflow for occluded maize regions and assigns unreli able maize regions to ignore rather than background. Baseline results show that pre trained query-based grouping, boundary refinement, and high-resolution crop refine ment help different aspects of the task, but no architecture solves the coupled chal lenges of fine structure recovery, same-class instance ownership, and occlusion reason ing; occlusion-level analysis further shows that performance decreases as plant visi bility becomes more limited. The dataset and code are publicly available at https: //github.com/JaaaaaaaD/EgoMaize.
CoralscapesV2: Panoptic and Fine-Grained Visual Scene Understanding in Coral Reefs
In order to design conservation and restoration strategies to counter the global decline of coral reefs, ecological monitoring of reefs needs to be scaled up dramatically. Computer vision methods are increasingly used to tackle the vast amount of data: as the paradigm of data collection in reefs shifts from highly standardized and constrained survey images to unconstrained imagery on scalable platforms, it is necessary to design machine learning methods that help to get a fine-grained understanding of reefs from general-purpose reef imagery. This paper provides CoralscapesV2, an extension of the Coralscapes dataset for general-purpose visual scene understanding in reefs. CoralscapesV2 increases the dataset size, scope, label completeness and quality for semantic segmentation, and extends the number of classes from 39 to 95 fine-grained visual categories. Furthermore, CoralscapesV2 provides 65k exhaustive fish instance mask annotations, meticulously annotated to completeness by using the video, revealing that annotation of fish based on only static images is insufficient. CoralscapesV2 is the first dataset for panoptic segmentation in coral reefs, capturing a wide range of scenarios in the wild, posing a challenging benchmark for contemporary semantic segmentation and instance segmentation models. CoralscapesV2 is an important step towards general-purpose panoptic segmentation in coral reefs, which has substantial implications for scaling up coral reef monitoring, as it can be employed in a wide range of applications from benthic cover mapping from robot or handheld videos to designing methods for automated quantification and understanding of fish behavior and fish-reef interactions.
MorphoOrgaAgent: A Foundation-Model-Based Multi-Agent System for Autonomous Organoid Analysis
Organoids are three-dimensional tissue models whose morphology provides important insights into tumor development, disease progression, and drug testing. Extracting these morphological features relies heavily on manual segmentation, which is time-consuming and labor-intensive. Furthermore, performing quantitative statistical analysis typically requires custom coding skills and a mathematical background, presenting a major barrier for experimental biologists. To address these challenges, we introduce MorphoOrgaAgent, a multi-agent framework that achieves zero-shot organoid segmentation, automated data analysis, and report generation based on natural language input. The framework consists mainly of three core components: a TaskUnderstandingAgent that identifies requested measurements and visualization types; a hybrid segmentation module that combines Cellpose-derived geometric prompts with text prompts to guide SAM3 for zero-shot organoid instance segmentation; and a ReportAgent that computes quantitative metrics and compiles them alongside generated visualizations into a structured report. We further introduce MorphoOrgaVQA, a benchmark designed for quantitative evaluation of agent systems in organoid morphology analysis. Experimental results demonstrate that MorphoOrgaAgent handles both explicit and descriptive user requests, produces measurements closely matching ground truth, and generates complete analysis reports without requiring manual programming. The complete source code and MorphoOrgaVQA benchmark are publicly available at https://github.com/peng-lab/MorphoOrgaAgent.
ENEAS: Embedding-guided Neural Ensemble for Adaptive Segmentation
We present ENEAS, a unified, text-promptable method for instance tracking and semantic discovery. Text-promptable segmentation models, including the latest foundation models such as SAM 3, still suffer from temporal hallucinations, spatial fragmentation, and semantic misclassification: they fail to report target absence when an object leaves the field of view, segment local textures instead of the complete object during extreme close-ups, and prioritize visual features over ontological reality, so that visually similar artifacts such as statues, paintings, or reflections are segmented as target entities. ENEAS works two ways from a single method: precise tracking and high-quality segmentation of a unique instance, and open-concept discovery of every instance a text query names, resolved by a semantic verification layer. For tracking, we extend the geometrically robust SeC architecture, previously limited to point interactions, with a text-prompting adapter and leverage its temporal memory, so that the target is held through disappearance without drifting to distractors and kept whole even when it fills the entire view. For discovery, the verification layer combines high-speed visual embedding matching with conditional VLM refinement, invoking semantic reasoning only for ambiguous candidates, which filters out the ontological errors that visual-only models cannot distinguish while keeping latency low. Designed with 3D reconstruction in mind, where a single misclassified distractor corrupts the asset, ENEAS unlocks high-quality semantic tracking and segmentation of video, of broad libraries, and of collections of temporally or spatially unordered data, together with the discrimination to tell true instances from their doppelgangers: things that look alike but are not the same. The code and models are available at https://github.com/speridlabs/eneas
WireSeg-32K: A Physics-Grounded Synthetic Dataset for Wire Instance Segmentation
Deformable linear objects such as wires and cables are difficult to segment because they are thin, highly deformable, and frequently self-occluded, while large-scale instance-level annotations are expensive to obtain in real scenes. Existing resources either focus on cable tracing or semantic segmentation under constrained settings, or generate visually plausible images without physically grounded wire deformation. We present WireSeg-32k, a synthetic dataset for wire instance segmentation with 32,000 RGB images, instance masks, depth maps, and a complementary real-world test set with annotations. To generate this dataset, we develop DeformX, a co-simulation pipeline that couples Cosserat-rod dynamics with photorealistic Isaac Sim rendering, enabling physically plausible, contact-consistent wire shapes, CAD-based wire assets, and diverse visually grounded scenes. As a simple baseline, LoRA fine-tuning SAM3 on WireSeg-32k alone improves real-world mAP@75 by 10.2% over the off-the-shelf model, showing that physically grounded synthetic data can transfer to real wire perception.
Hardware-Accelerated Instance Segmentation for Resource-Constrained Space Robotics with Criticality Analysis
Autonomous lunar missions require real-time per- ception under three coupled constraints: extreme low-light conditions, limited onboard compute, and radiation-induced hardware faults that can silently corrupt inference. We present a deployment-oriented instance segmentation framework for resource-constrained lunar robotics that jointly addresses quan- tization calibration and system-level fault exposure under strict compute constraints. First, we introduce Activation Variance Informative Sampling (AVIS), a label-free calibration strategy that deterministically selects calibration samples based on activation variance statistics. Second, we deploy a YOLO-based segmentation model on a Deep Learning Processor Unit (DPU) with architectural modifications that reduce CPU fallback paths and enable statically compiled execution with bounded latency in low-lighting conditions. We further introduce a software-level criticality analysis to estimate fault exposure and guide mitigation under radiation-constrained operation. On a lunar micro-rover platform, AVIS with bias correction recovers 69.8% of quantization-induced accuracy loss while achieving 309 ms inference latency and 5.7 W power consumption. Targeted mitigation reduces global criticality by 31.7%. The results demonstrate an integrated approach and a blueprint for a reliable and safe AI perception framework under space deployment constraints.
CoViT: Instance-Correspondence Contrastive Learning for Vision Transformer
Vision Transformers (ViT) excel in semantic understanding but fail to discriminate between object instances (e.g., identical embeddings for two dogs), limiting their use in instance-level tasks such as object detection and instance segmentation. We propose Contrastive Vision Transformer (CoViT), a self-supervised learning framework that injects instance-awareness into ViT through geometry-guided contrastive learning. CoViT uniquely coordinates ViT's attention maps and embeddings by constructing triplets: (1) Attention-guided masking: Refine multi-head attention via adaptive thresholding and morphological operations to generate instance masks, identifying foreground anchors; (2) Hardest contrastive mining: For each anchor, computing pairwise embedding similarities to select the intra-instance hardest positive (least similar patch within its mask) and inter-instance hardest negative (most similar patch from other instances), with intra-instance regions masked during negative search. These triplets drive a contrastive loss that simultaneously compresses intra-instance variance and expands inter-instance margins, forcing ViT to discern subtle geometric and appearance differences between instances. CoViT consistently achieves stable performance gains of over 2 AP points across multiple instance-level perception tasks by using ViT as backbone architecture. Notably, CoViT requires no extra decoders or labels, demonstrating that a pure ViT can learn instance-aware representations via inherent attention priors and targeted contrastive constraints. Code and models will be released.
CedarCypress3D: an annotated UAV-LiDAR dataset of individual trees in planted cedar and cypress forests
Individual tree measurements derived from Light Detection and Ranging (LiDAR) mounted on Unmanned Aerial Vehicles (UAV) provide valuable information for forest inventory, ecosystem monitoring, and sustainable forest management. Recent advancements in machine learning have increased the demand for annotated datasets to develop and evaluate point cloud-based approaches, especially for individual tree segmentation. However, publicly available annotated UAV-LiDAR datasets in temperate forests are limited. In this article, we present CedarCypress3D, a manually annotated UAV-LiDAR dataset collected in Japanese cedar (Cryptomeria japonica) and Japanese cypress (Chamaecyparis obtusa) plantations in Japan. The dataset consists of UAV-LiDAR point clouds and field survey measurements from 34 circular plots across two sites with different topographic characteristics, along with terrestrial LiDAR point clouds available for a subset of 22 plots. A total of 1,627 trees were measured in the census field survey and manually annotated to match the corresponding trees in the UAV-LiDAR point clouds. For the subset of plots with terrestrial LiDAR data, semantic labels (i.e., stem and non-stem) were additionally assigned to tree points in the UAV-LiDAR data. CedarCypress3D provides high-quality annotated UAV-LiDAR data for developing and evaluating individual tree instance segmentation and semantic segmentation methods in temperate planted forests. The dataset can also support research on tree attribute prediction and multi-platform LiDAR analysis. The dataset is publicly available at https://doi.org/10.5281/zenodo.22168721.
MariSat: A Maritime Dataset for Instance Segmentation of Objects in Satellite and Aerial Images
Automated maritime surveillance from satellite and aerial imagery requires large, precisely annotated datasets, which remain scarce for the instance-segmentation task, particularly for small vessels in cluttered port environments. We present MariSat, a new benchmark dataset of 1260 aerial and satellite images covering diverse port and coastal scenes, annotated at the pixel level for eight maritime object classes (sailboat, yacht, jet-ski, fishing boat, cruise ship, military vessel, tugboat and cargo ship). The dataset was produced through a semi-automatic annotation pipeline combining the textpromptable segmentation model SAM 3 with a cascade of geometric and colorimetric post-processing filters, followed by a manual correction and quality-control pass performed with the CVAT annotation platform. We describe the image-collection methodology, the annotation and correction process, and the resulting data organization. We also report class-wise statistics for the training, validation, and test splits. MariSat has already been used to fine-tune and benchmark segmentation and detection models (SAM 3 and YOLO11) for real-time maritime monitoring. We report detailed quantitative and per-class results for both tasks. The MariSat dataset is publicly available on GitHub : https://github.com/amirabbes/P2M-Maritime-Segmentation
Predicting Signed Distance Functions for Visual Instance Segmentation
Visual instance segmentation is a challenging problem and becomes even more difficult if objects of interest varies unconstrained in shape. Some objects are well described by a rectangle, however, this is hardly always the case. Consider for instance long, slender objects such as ropes. Anchor-based approaches classify predefined bounding boxes as either negative or positive and thus provide a limited set of shapes that can be handled. Defining anchor-boxes that fit well to all possible shapes leads to an infeasible number of prior boxes. We explore a different approach and propose to train a neural network to compute distance maps along different directions. The network is trained at each pixel to predict the distance to the closest object contour in a given direction. By pooling the distance maps we obtain an approximation to the signed distance function (SDF). The SDF may then be thresholded in order to obtain a foreground-background segmentation. We compare this segmentation to foreground segmentations obtained from the state-of-the-art instance segmentation method YOLACT. On the COCO dataset, our segmentation yields a higher performance in terms of foreground intersection over union (IoU). However, while the distance maps contain information on the individual instances, it is not straightforward to map them to the full instance segmentation. We still believe that this idea is a promising research direction for instance segmentation, as it better captures the different shapes found in the real world.
Learning from Multimodal Pseudo-Labels for Robust Open-Vocabulary Instance and Panoptic Segmentation
This work addresses the challenge of open-vocabulary instance segmentation (OVIS) and open-set panoptic segmentation (OSPS), which aim to recognize both predefined and unseen object categories without exhaustive human annotations. Existing methods often suffer from noisy pseudo-masks, limited visual-textual grounding, and difficulty handling synonyms or out-of-vocabulary (OOV) words. To overcome these challenges, we propose a multimodal framework that leverages pre-trained vision-language models for automatic pseudo-label generation, CLIP-guided synonym filtering, and GPT-based caption reconstruction. In our target-vocabulary-assisted pseudo-labeling setting, the framework first constructs pseudo segmentation masks, descriptive captions, and semantically aligned synonym sets using Grounded SAM, LLaVA, and CLIP, providing multimodal supervision without manual annotation. We then enhance visual-textual alignment through three complementary training objectives: an extended grounding loss that incorporates visually grounded synonyms, a semantic consistency loss, and a generative caption reconstruction loss. Extensive experiments on the COCO dataset demonstrate that the proposed method consistently outperforms previous state-of-the-art approaches under this protocol, achieving substantial improvements on both OVIS and OSPS benchmarks.
Topology-Aware Query Selection for Surgical Instrument Instance Segmentation
Accurate foreground masks can still form an incorrect surgical-instrument instance set: duplicate, fragmented, merged, missed, or empty-frame predictions may preserve favorable pixel overlap while violating object identity and count. Final query selection is therefore a relational, variable-cardinality problem rather than a collection of independent candidate decisions. We evaluate topology-aware query selection, which represents the nonempty candidates of a fixed Mask2Former as a complete graph, learns relational candidate and pair representations, predicts set cardinality, and solves an exact structured subset problem. The formal comparison is the complete relational path versus a node-feature-matched path; it evaluates the combined effect of pairwise geometry, message passing, and the additional relational-path capacity, not an isolated component. On the sealed 22-case source test, all three discovery seeds supported instance-set performance improvement with segmentation fidelity and predefined technical-safety preservation: instance F1 increased by 0.0504--0.0612 and positive-frame set-failure rate decreased by 0.0848--0.1060. Direct ROBUST-MIPS transfer reproduced the complete result in all three seeds. Endoscapes supported only one of three seeds and therefore did not establish stable direct transfer. Taken together, the results support a bounded conclusion: the evaluated complete path improved coherent instance-set construction from fixed Mask2Former candidates in specified native-instance contracts, while stable cross-domain transfer and component-specific effects remain unestablished.
Toward Mask Annotation-Free Surgical Instrument Segmentation from Endoscopic Images Using Text-Prompted Segment Anything Model 3 (SAM3)
Surgical instrument segmentation is a fundamental task for computer-assisted interventions, yet most existing methods rely on pixel-level annotations or manual spatial prompts, which limit scalability and automation. The recently introduced Segment Anything Model 3 (SAM3) offers a pathway to annotation-free, automatic segmentation via text-based prompting; however, the instrument name as a text prompt could not be directly used due to a large domain gap. To overcome these limitations, we propose a two-stage framework that achieves instance-level segmentation without requiring ground truth masks or manual interaction. In the first stage, we leverage a natural-language-aligned generic prompt - "tool" - to produce binary masks using SAM3's zero-shot capability. In the second stage, these masks are extended to instance-level by integrating a vision-language model (Qwen) that is fine-tuned on SAM3-generated masked regions for instrument classification. We evaluate our approach on the EndoVis 2017 and 2018 datasets. Results show that, while our two-stage approach does not reach the performance of current fully supervised methods, it significantly outperforms the direct use of SAM3 for instance-level instrument segmentation with text prompts. Overall, our findings highlight both the limitations and potential of SAM3, suggesting a promising direction toward annotation-free surgical instrument segmentation.
TLNM: Externally Validated Tooth Detection, Numbering and Segmentation from Smartphone Photographs Using Mask R-CNN
Oral health issues affect billions globally, but the cost and limited access to professional dental care hinder preventive oral healthcare. Research relies on clinical-grade radiographs or intraoral camera images, unavailable for public self-screening. This study introduces a tooth localisation and numbering model for smartphone photographs. We developed a customised Mask Region-based Convolutional Neural Network (Mask R-CNN) pipeline trained on 1,272 annotated smartphone images. To address variability in patient-generated health data, the pipeline incorporates two domain-informed mechanisms: a masked gray-world white-balancing algorithm to mitigate artificial colour casts and an anatomically constrained detection layer to enforce structural validity and suppress false positives. Evaluation comprised four stages: internal held-out testing, independent external testing, a descriptive ablation study, and fold-based training stability analysis using the same internal test set. On the internal test set, the model achieved an instance-mask AP@50 of 0.818, class-aware PQ of 0.780, and operational F1 of 0.884. Training stability showed limited between-model variation: across ten runs, instance-mask AP@50 had a standard deviation of 0.009. On the external dataset, the model achieved an instance-mask AP@50 of 0.901, class-aware PQ of 0.832, and operational F1 of 0.928 despite differences in population, sensors, and acquisition protocols. The inference pipeline is available as an open-source, containerised API. These results demonstrate that consumer-grade smartphone imagery can support automated tooth-level anatomical mapping, offering a scalable, potentially low-cost foundation for remote screening and tele-dentistry in resource-constrained environments.
From Transparent Labware Segmentation to Collision Avoidance: A Real-Time Edge-Aware Perception Pipeline
This paper presents an edge-aware instance segmentation framework that enables real-time robotic collision avoidance with transparent laboratory glassware using purely visual perception. Transparent vessels defy conventional segmentation due to refraction, specular reflection, and the absence of stable interior texture, yet their boundary contours remain comparatively reliable visual cues. Exploiting this observation, we augment a one-stage real-time instance segmentation backbone with a lightweight edge-detection branch, edge-guided attention fusion, and a parameter-free SimAM module, and further construct LabGlass-IS, a 3485-image, 21-category instance segmentation dataset of real laboratory glassware. The enhanced model achieves the highest Boundary F-score of 97.80 among compared methods, outperforming the YOLO-prompted FastSAM framework by 18.93 BF points. Furthermore, it maintains an inference speed of 7.1ms per frame and requires only 2.85% of the parameters of the closest accuracy competitor. Multi-view triangulation of mask centroids further provides 3D positions for conservative bounding-volume collision constraints. Real-robot trials achieve a 93.3% collision avoidance success rate, indicating the feasibility of the proposed perception-to-action pipeline for robot collision avoidance among fragile transparent objects. Our code is available at https://github.com/havishamy/TransYOLO_3D. Our video is available at https://havishamy.github.io/paper-videos/.