IST-ROS: A Flexible Object Segmentation and Tracking Framework for ROS

IST-ROS is a package based on integration of Segment Anything Model with semi-supervised video object segmentation method, for flexible object segmentation and tracking in ROS-based systems.

Installation

For detailed installation instructions, please refer to the Installation.md file.

Usage

IST-ROS can be used with or without ROS. For examples on how to run IST-ROS, please refer to the following files:

• GUI.md: Instruction for using Graphical User Interface .
• RunWithROS.md: Instructions for running IST-ROS with ROS.
• RunWithoutROS.md: Instructions for running IST-ROS without ROS.

Interactive Target Selection through GUI

Target Segmentation and Tracking

Multi-mode Tracking Visualization

Related publications

@Article{s23249865,
  AUTHOR = {Fozilov, Khusniddin and Colan, Jacinto and Davila, Ana and Misawa, Kazunari and Qiu, Jie and Hayashi, Yuichiro and Mori, Kensaku and Hasegawa, Yasuhisa},
  TITLE = {Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery},
  JOURNAL = {Sensors},
  VOLUME = {23},
  YEAR = {2023},
  NUMBER = {24},
  ARTICLE-NUMBER = {9865},
  URL = {https://www.mdpi.com/1424-8220/23/24/9865},
  PubMedID = {38139711},
  ISSN = {1424-8220},
  DOI = {10.3390/s23249865}
}

@inproceedings{cheng2022xmem,
  title={{XMem}: Long-Term Video Object Segmentation with an Atkinson-Shiffrin Memory Model},
  author={Cheng, Ho Kei and Alexander G. Schwing},
  booktitle={ECCV},
  year={2022}
}

@article{kirillov2023segany,
  title={Segment Anything},
  author={Kirillov, Alexander and Mintun, Eric and Ravi, Nikhila and Mao, Hanzi and Rolland, Chloe and Gustafson, Laura and Xiao, Tete and Whitehead, Spencer and Berg, Alexander C. and Lo, Wan-Yen and Doll{\\'a}r, Piotr and Girshick, Ross},
  journal={arXiv:2304.02643},
  year={2023}
}