Abstract: Systems and methods for generating a panoptic segmentation mask for an input image. The methods include receiving the input image comprising a plurality of pixels, generating a semantic mask and an instance mask from the input image, and combining the semantic mask and the instance mask to generate a panoptic mask for the input image. The semantic mask includes a single-channel mask that associates each pixel in the input image with a corresponding one of a plurality of labels. The instance mask includes a plurality of masks, where each of the plurality of masks identifies an instance of a countable object in the input image, and is associated with an indication of whether that instance of the countable object is hidden behind another object in the input image.