A method, apparatus, non-transitory computer readable medium, and system for panoptic segmentation are described. Embodiments may generate a feature pyramid for an input image, wherein the feature pyramid comprises a plurality of feature maps at different resolution levels, apply an attention module to the feature pyramid to produce an enhanced feature map, combine the enhanced feature map with each of the plurality of feature maps to produce an enhanced feature pyramid, generate semantic information for the input image based on the enhanced feature pyramid, generate a plurality of object regions based on the enhanced feature pyramid, generate instance information for each of the plurality of object regions, and generate panoptic segmentation information for the input image based on the semantic information and the instance information for each of the plurality of object regions.