{ "dataset": "Sim_3_UAVs", "sampled_questions": 552, "type_distribution": { "Object Matching": 73, "Quality Assessment": 42, "Who to Collaborate": 42, "Object Counting": 42, "Object Grounding": 75, "Object Recognition": 42, "Why to Collaborate": 41, "What to Collaborate": 42, "Usability Assessment": 42, "Causal Assessment": 42, "Scene Comparison": 28, "Scene Description": 14, "Observing Posture": 13 }, "results": [ { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_062", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_232", "question_type": "Object Matching", "question": "The hovering drone visible near the center of the intersection in UAV3's perspective corresponds to which target in another UAV's aerial view?", "options": { "A": "The drone partially obscured by a tree, hovering along the sidewalk in UAV2's aerial view.", "B": "The drone seen flying above the treetops, captured clearly in UAV1's perspective.", "C": "The drone stationary and now seen near a traffic light on the corner of the street in UAV2's aerial view.", "D": "The drone flying low above an empty crosswalk, visible near a parked vehicle in UAV1's perspective." }, "correct_answer": "A", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_062.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_062.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_062.jpg" }, "annotation_info": "", "image_description": "UAV3's aerial view shows a drone hovering at the center of the intersection; UAV2's perspective shows the same drone partially obscured by a tree, hovering along the sidewalk." }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_013", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_13", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "2", "B": "5", "C": "3", "D": "1" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_013.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_013.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_013.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_023", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_109", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV1", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_023.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_023.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_023.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_562", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_318", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "5", "B": "10", "C": "8", "D": "7" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_562.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_562.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_562.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_095", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_416", "question_type": "Object Matching", "question": "A quadcopter drone hovering above the road near the trees in UAV1's perspective is visible in a different position in another UAV's aerial view. Where is this drone located in UAV2's perspective?", "options": { "A": "The quadcopter now hovering above the left side of the road, slightly closer to the intersection in UAV2's aerial view.", "B": "The quadcopter seen near the building entrance, parked on the roof structure in UAV2's perspective.", "C": "The quadcopter now stationary in the middle of the road, directly above the pedestrian crosswalk in UAV2's aerial view.", "D": "The quadcopter lost from view entirely in UAV2's aerial perspective due to tree occlusion." }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's perspective shows a quadcopter drone hovering above the road near trees, while UAV2's perspective reveals the same quadcopter hovering further left above the road, closer to the intersection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_095.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_095.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_095.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_030", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_540", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what is the most likely challenge in detecting pedestrians in this scene?", "options": { "A": "The presence of dense tree coverage obscuring parts of the ground", "B": "High vehicle density on the roads", "C": "Pedestrians blending in with the bright sunlight and shadows on buildings", "D": "Low contrast from a pedestrian\u2019s clothing compared to rooftops" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a cityscape with trees, open areas, and buildings. The dense tree coverage creates shadowed regions, partially obstructing views of the ground.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_030.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_030.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_030.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_076", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_248", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "5", "B": "4", "C": "2", "D": "3" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_076.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_076.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_076.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_084", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_505", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_056", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_378", "question_type": "Why to Collaborate", "question": "Why should UAV2 collaborate with other UAVs in this scenario?", "options": { "A": "To mitigate image quality issues such as blur and brightness imbalance", "B": "To expand the visual coverage of the urban area", "C": "To adjust the position for better alignment in multi-UAV setups", "D": "To synchronize data with identical sensors for redundancy" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image from UAV2 exhibits blur and brightness imbalance, affecting the clarity of features like the trees, urban structures, and pavilion. Other UAV views show clear, undistorted visuals, compensating for these deficiencies. The annotation highlights the need to address UAV2's limited image quality to achieve accurate multi-view perception.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_056.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_056.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_056.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_065", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_65", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "4", "B": "3", "C": "5", "D": "2" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_065.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_065.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_065.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_034", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_34", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which target is visible on the road and positioned near the pedestrian crossing?", "options": { "A": "A blue sedan parked on the roadside", "B": "A drone hovering near the pedestrian crossing", "C": "A bicycle moving along the sidewalk", "D": "A motorcycle stationary at the pedestrian crossing" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV's aerial view captures a road with a pedestrian crossing surrounded by trees. A stationary motorcycle is positioned at the crossing, a blue sedan is visible further out, and a bicycle is moving on the sidewalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_034.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_034.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_034.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_048", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_469", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "4", "B": "5", "C": "2", "D": "3" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_048.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_048.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_048.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_017", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_527", "question_type": "Object Recognition", "question": "Given the UAV's aerial perspective, which target would be most challenging to detect in this urban scene due to potential occlusion?", "options": { "A": "A drone flying between buildings", "B": "A vehicle parked under the trees", "C": "A pedestrian walking in an open plaza", "D": "A surveillance system on a rooftop" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV's aerial view captures an urban environment with a combination of high-rise buildings, open plazas, and scattered trees which may partially occlude targets like vehicles or drones.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_017.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_017.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_017.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_072", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_72", "question_type": "Usability Assessment", "question": "How usable is this image from UAV1 for detecting bicycles and pedestrians?", "options": { "A": "Highly usable due to unobstructed view and clear visibility of targets", "B": "Moderately usable due to partial occlusion by foliage", "C": "Low usability due to heavy obstructions and lack of visibility", "D": "Not usable as targets are completely obscured by trees" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image has moderate usability for detecting bicycles and pedestrians due to partial occlusion by tree foliage, reducing clarity for some regions but leaving others unobstructed.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_072.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_072.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_072.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_084", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_406", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting bicycles and pedestrians in the scene?", "options": { "A": "Highly suitable due to good visibility and unobstructed paths", "B": "Moderately suitable due to partial occlusion by trees", "C": "Low suitability due to large shadows limiting target visibility", "D": "Unsuitable due to insufficient details to identify targets" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image from UAV2 shows an urban area with roads, trees, and buildings, where visibility for detecting bicycles and pedestrians is moderately impacted by tree occlusions, but overall clarity is maintained.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_091", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_512", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "2", "B": "0", "C": "1", "D": "3" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_091.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_091.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_091.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_004_frame_339", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_299", "question_type": "Scene Description", "question": "Based on the spatial relationships observed in the scene, what is the most likely monitoring priority for the UAVs?", "options": { "A": "Tracking the relative positions of drones near urban structures", "B": "Monitoring vehicle traffic flow along the central road", "C": "Detecting pedestrian activity near the intersections", "D": "Identifying bicycles moving through the park area" }, "correct_answer": "B", "annotation_info": "Perception issues: Out of FoV, Occluded; Perception degradation: Object occlusion, Out of FoV, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 31.472868217054263, 'y': 48.64771748492679, 'width': 6.124031007751938, 'height': 3.1696813092161875, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: None; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene shows two drones monitoring an urban environment with a central road where vehicles are the most prominent targets. Pedestrian activity is minimal, and bicycles are not visible. The drones appear positioned for observing traffic flow and urban infrastructure dynamics.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_339.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_339.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_339.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_083", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_504", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking pedestrians and bicycles at ground level?", "options": { "A": "Highly usable due to good visibility on open ground with minimal occlusion", "B": "Moderately usable given partial occlusions by trees affecting detection", "C": "Low usability due to significant obstruction from vegetation", "D": "Not usable as visibility is too compromised for effective detection" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image offers mixed usability with open areas suitable for detection but partial occlusions by trees that may limit tracking pedestrians and bicycles effectively in some parts of the scene.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_083.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_083.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_083.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_042", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_364", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_042.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_042.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_042.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_071", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_157", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "3", "B": "2", "C": "5", "D": "1" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_071.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_071.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_071.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_072", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_394", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone under partial shadow near the center of the open area that requires lighting adjustment for accurate detection", "B": "Drone flying near the trees along the roadside that may need obstacle avoidance information", "C": "Drone with reflective surface near the pavilion requiring glare reduction to maintain visibility", "D": "Drone hovering above the curved road at the bottom edge requiring trajectory confirmation" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 captures a drone in the marked region near the center of the open area, partially obscured by shadows, which requires position and lighting details to ensure accurate tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_072.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_072.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_072.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_069", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_240", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what type of target is most likely to be obstructed by the tree cover in this scene?", "options": { "A": "A moving pedestrian on the crosswalk", "B": "A parked vehicle near the roadside", "C": "A surveillance drone hovering above the intersection", "D": "A traffic light on the corner" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV's aerial view shows an urban intersection with prominent tree cover. Crosswalks, traffic lights, and surrounding buildings are visible, but areas near the bases of trees are partially obstructed, potentially concealing parked vehicles or objects.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_069.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_069.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_069.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_035", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_545", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what type of road target is least likely to be clearly visible in this scene?", "options": { "A": "Parked vehicles under the trees", "B": "Moving vehicles on the road", "C": "Stationary vehicles in open spaces", "D": "Traffic signs near the intersection" }, "correct_answer": "A", "annotation_info": "", "image_description": "This UAV image captures an open plaza surrounded by trees and buildings. Shadows from trees obscure visibility in some areas, while roads are visible but lack clear vehicle presence.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_035.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_035.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_035.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_042", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_212", "question_type": "Object Recognition", "question": "What is the most likely explanation for the small circular object visible in the UAV's aerial view on the left side of the image?", "options": { "A": "It is a manhole cover on the road.", "B": "It is another UAV or drone in the airspace.", "C": "It is a bicycle parked on the sidewalk.", "D": "It is a pedestrian carrying an umbrella." }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV provides a clear aerial view of an open area with a zebra crossing, vegetation, and two circular objects resembling drones hovering close to the ground, one on the left and one near the right corner.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_042.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_042.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_042.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_070", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_392", "question_type": "Scene Comparison", "question": "What is the primary monitoring focus of the UAV in this scene?", "options": { "A": "Identifying vehicle traffic flow on the road", "B": "Monitoring pedestrian activity near the building", "C": "Inspecting the structural integrity of the canopy", "D": "Tracking a drone in the urban airspace above" }, "correct_answer": "C", "annotation_info": "Perception degradation: Out of FoV; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration partner: UAV2; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The scene from UAV3 depicts an urban area with a building, greenery, a road with no vehicles, and a canopy structure in focus in an open plaza.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_070.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_070.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_070.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_004", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_175", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the blue object positioned relative to the trees and the paved pathways?", "options": { "A": "The blue object is partially concealed beneath the central tree at the curve of the pathway.", "B": "The blue object is located in the open near the intersection of two pathways.", "C": "The blue object is positioned at the far end of the pathway away from the tree cluster.", "D": "The blue object is suspended above the trees and directly in the UAV's view." }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a dense formation of trees along a curved pathway with a small blue object partially hidden beneath one of the trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_004.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_004.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_004.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_049", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_561", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "3", "B": "2", "C": "4", "D": "0" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_049.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_049.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_049.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_093", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_274", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "1", "B": "0", "C": "4", "D": "2" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_093.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_093.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_093.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_053", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_473", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the purple-flowered tree located relative to the central paved walkway?", "options": { "A": "The purple-flowered tree is directly on the left side of the paved walkway near the middle", "B": "The purple-flowered tree is located on the right side of the paved walkway close to the edge of the green field", "C": "The purple-flowered tree is in the furthest corner of the drone's field of view", "D": "The purple-flowered tree is positioned at the intersection of the paved walkway and wooden platforms" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an elevated view of a landscaped park featuring a central paved walkway dividing a green grassy field on the right from a wooden deck area on the left. A purple-flowered tree is visible near the edge of the grassy field, slightly to the right of the walkway.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_053.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_053.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_053.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_054", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_376", "question_type": "Usability Assessment", "question": "How usable is this image for detecting pedestrians and bicycles along the road?", "options": { "A": "Highly usable due to clear visibility of the entire sidewalk", "B": "Moderately usable as trees partially obstruct potential targets", "C": "Low usability due to extreme occlusion by environmental elements", "D": "Not usable as there is no visibility of the sidewalk area" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a UAV view of a road with trees lining the sidewalk, alongside buildings and open spaces. While visibility is relatively clear in some areas, trees significantly obstruct potential targets, particularly pedestrians and bicycles, reducing full detection usability.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_054.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_054.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_054.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_007_frame_070", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_582", "question_type": "Observing Posture", "question": "What is the primary behavioral focus of UAV3 in this scene?", "options": { "A": "Tracking the movement of a single drone in an open area", "B": "Analyzing the stationary positions of bicycles", "C": "Monitoring the interaction of pedestrians around buildings", "D": "Observing vehicles entering the road intersection" }, "correct_answer": "A", "annotation_info": "Perception degradation: Out of FoV, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 68.39788490101911, 'y': 32.30094660227991, 'width': 1.0978402267636227, 'height': 1.2546745448726853, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1\uff0cUAV2; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene shows an urban area monitored by UAV3 with trees, buildings, and open spaces. A small drone is visible hovering stationary in the middle of the plaza, while no other significant vehicles, pedestrians, or bicycles are present. The focus is on tracking this drone's movements and behavior.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_070.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_070.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_070.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_087", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_408", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the small pavilion relative to the row of trees along the road?", "options": { "A": "To the left of the row of trees and across the road", "B": "Directly behind the row of trees near the road", "C": "To the right of the row of trees on the open pavement", "D": "In front of the row of trees at the road's edge" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures a row of trees lining a road, with a small pavilion positioned to the right of the trees on an open pavement, in front of a high-rise building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_087.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_087.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_087.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_066", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_66", "question_type": "Object Matching", "question": "The drone hovering near the center of the road in UAV2's aerial view corresponds to which target in another UAV's perspective?", "options": { "A": "The drone now positioned at the crosswalk in UAV3's aerial view, visible between the trees", "B": "The quadcopter now visible from above, flying over the grassy area in UAV1's perspective", "C": "The drone seen from the rear, moving away from the sidewalk in UAV3's perspective", "D": "The quadcopter hovering near the edge of the road in UAV1's aerial perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone hovering near the center of the road, partially surrounded by tree cover. UAV3's perspective captures the same drone moving towards the crosswalk, visible between the rows of trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_066.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_066.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_066.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_053", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_53", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs regarding the drone in the marked region?", "options": { "A": "Drone occluded by foliage in the center of the image that requires position and trajectory clarification", "B": "Drone above the pedestrian crossing near the center that needs movement and speed validation", "C": "Drone under persistent shadow near the bottom edge that requires lighting adjustment for accurate detection", "D": "Drone near the parked car in the upper-right area that needs obstacle proximity assessment" }, "correct_answer": "A", "annotation_info": "", "image_description": "The drone in the marked region of UAV1's view appears occluded by dense foliage in the center of the image, making it difficult to determine its precise position and trajectory. Similar challenges are present in alternate UAV views.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_053.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_053.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_053.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_063", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_63", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the drone hovering above the road partially occluded by trees in UAV2's aerial view?", "options": { "A": "The drone now clearly visible hovering near the zebra crossing in UAV3's aerial perspective", "B": "The pedestrian walking along the sidewalk in UAV1\u2019s perspective", "C": "The cyclist riding past the blue vehicle in UAV3's perspective", "D": "The drone hovering above a park visible in UAV1's aerial view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone partially occluded by trees, hovering above a road. UAV3 provides a clearer view of the same drone hovering near a zebra crossing, with no occlusion.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_063.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_063.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_063.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_034", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_455", "question_type": "Scene Description", "question": "Based on the spatial relationships visible in this scene, which area would most likely be the primary focus for UAV2 monitoring?", "options": { "A": "The shaded grassy area with dense tree coverage", "B": "The open wooden platform with geometric structures", "C": "The pathway connecting the grassy and wooden areas", "D": "The tree-lined area behind the platform with visible roads" }, "correct_answer": "B", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 25.65522791279703, 'y': 26.582236215703986, 'width': 0.8569595962520928, 'height': 1.2378305279196802, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1\uff0cUAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The image depicts an urban green space with a wooden platform featuring geometric structures, a grassy area with dense tree coverage, and a connecting pathway. The platform is prominent and well-lit, potentially making it a monitoring focus.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_034.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_034.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_034.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_074", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_586", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "3", "B": "0", "C": "1", "D": "2" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_074.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_074.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_074.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_089", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_261", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone partially occluded by tree foliage in the upper-right area of the image, requiring position refinement", "B": "Drone under shadows near the zebra crossing in the center, requiring movement tracking", "C": "Drone close to stationary bicycles near the pedestrian walkway, requiring target identification", "D": "Drone flying low above the road in the upper-left corner, requiring altitude confirmation" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region near position (43.4%, 19.7%) with size 2.9%x5.5%, partially occluded by tree foliage in the upper-right area of the image, requiring clarification of its position for accurate tracking and coordination.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_089.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_089.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_089.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_020", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_532", "question_type": "Usability Assessment", "question": "How suitable is the image for detecting and tracking bicycles and pedestrians in the open area?", "options": { "A": "Highly suitable due to clear visibility of targets", "B": "Moderately suitable as some targets may blend with the background", "C": "Low suitability due to high shadow interference", "D": "Not suitable as the targets are occluded by trees" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a large open area surrounded by buildings and trees, providing clear visibility but with some shadowed regions. A small bicycle is visible but may blend with the ground pattern, while no pedestrians are apparent. There are minimal occlusion and moderate contrast.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_020.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_020.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_020.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_039", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_39", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the drone hovering above the crosswalk seen from UAV1's perspective?", "options": { "A": "The drone now hovering above the road center, aligned with the east sidewalk path in UAV2's aerial view", "B": "The drone seen landing on the road near the blue car in UAV3's view", "C": "The drone now partially occluded by tree foliage near the west sidewalk in UAV2's field of view", "D": "The drone stationary above the park bench in UAV3's perspective" }, "correct_answer": "C", "annotation_info": "", "image_description": "In UAV1's perspective, a drone is hovering above the crosswalk at the center of the road, while UAV2's perspective shows the same drone partially occluded by tree foliage near the west sidewalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_039.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_039.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_039.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_053", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_224", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which factor makes it challenging to accurately identify pedestrians in this scene?", "options": { "A": "The presence of dense tree cover obscuring parts of the sidewalk", "B": "The low resolution of the UAV camera", "C": "The high presence of traffic signals leading to image clutter", "D": "The absence of any sidewalks in the captured image" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a city intersection with visible crosswalks, tree canopies partially covering sidewalks, and traffic signals but no pedestrians clearly visible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_053.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_053.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_053.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_026", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_538", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "4", "B": "5", "C": "2", "D": "3" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_026.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_026.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_026.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_032", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_32", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for vehicles and pedestrians in this UAV2 image?", "options": { "A": "Overexposure from direct sunlight", "B": "Occlusion by dense tree foliage", "C": "Motion blur caused by rapid UAV movement", "D": "Low resolution of the captured image" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a road surrounded by dense tree foliage, which partially occludes the street view and likely obstructs visibility of vehicles, pedestrians, and bicycles in the scene.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_032.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_032.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_032.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_006", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_328", "question_type": "Scene Comparison", "question": "What is the primary focus of UAV3 monitoring in the given scene?", "options": { "A": "Tracking movement patterns of pedestrians near the building", "B": "Observing vehicle traffic flow on the roadway", "C": "Monitoring stationary objects like the building and shade structure", "D": "Tracking a bicycle moving along the sidewalk" }, "correct_answer": "B", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 56.58914728682171, 'y': 47.54521963824289, 'width': 1.1627906976744171, 'height': 2.342807924203278, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene depicts a roadway adjacent to a row of trees and a large building with a shade structure. Movement of vehicles on the road is the primary target for UAV3 monitoring.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_006.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_006.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_006.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_097", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_419", "question_type": "Causal Assessment", "question": "What is the primary reason bicycles and pedestrians might be difficult to detect in this image?", "options": { "A": "High glare from building reflections", "B": "Occlusion by trees and structures", "C": "Motion blur from fast camera movement", "D": "Low resolution of the image" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows trees and structures, such as a building and a pavilion, which can occlude bicycles and pedestrians, making their detection challenging.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_097.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_097.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_097.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_031", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_31", "question_type": "Causal Assessment", "question": "What is the primary factor reducing the detectability of bicycles and pedestrians in this image?", "options": { "A": "Motion blur from fast-moving targets", "B": "Partial occlusion by trees", "C": "Overexposure due to sunlight", "D": "Low resolution of UAV camera" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a tree canopy significantly occluding the view of a crosswalk and pavement areas, where pedestrians and bicycles are present. This obstruction is the primary cause of reduced detectability.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_031.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_031.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_031.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_008", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_94", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the small drone hovering near the helipad in UAV2's aerial view?", "options": { "A": "The same small drone seen closer to the edge of the helipad from the UAV3 perspective", "B": "A larger drone hovering above the helipad as seen in UAV1's aerial view", "C": "The small drone now located near the building edge in UAV3's perspective", "D": "Another drone flying above the grassy area below the building in UAV1's aerial view" }, "correct_answer": "A", "annotation_info": "", "image_description": "In UAV2's aerial view, a small drone is hovering near the center of the helipad; in UAV3's perspective, the same drone is seen closer to the edge of the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_008.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_008.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_008.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_013", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_99", "question_type": "Causal Assessment", "question": "What is the primary factor that might hinder vehicle and pedestrian detection in this image?", "options": { "A": "Occlusion by tall buildings and structures", "B": "Motion blur due to UAV instability", "C": "Underexposure caused by shadowing effects", "D": "Cluttered background blending with objects" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image is captured over a dense urban area, with tall buildings and structures causing significant occlusion. This obstructs the view of vehicles and pedestrians in lower areas, making detection difficult.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_013.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_013.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_013.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_019", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_19", "question_type": "Object Matching", "question": "Which target in another UAV's aerial perspective corresponds to the black drone hovering partially visible within tree cover near the road in UAV3's aerial view?", "options": { "A": "The black drone now hovering above the crosswalk in UAV1's perspective, fully visible.", "B": "The pedestrian riding a bicycle near the sidewalk in UAV2's aerial view.", "C": "The blue car parked on the side of the road in UAV2's perspective.", "D": "The black drone flying above the center of an intersection in UAV3's perspective." }, "correct_answer": "A", "annotation_info": "", "image_description": "In UAV3's perspective, a black drone is seen hovering partially occluded by tree cover near the road. In UAV1's perspective, the same black drone is fully visible hovering above the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_019.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_019.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_019.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_074", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_246", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "4", "B": "1", "C": "3", "D": "2" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_074.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_074.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_074.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_085", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_597", "question_type": "Usability Assessment", "question": "What is the main usability limitation in this image for detecting drones and pedestrians?", "options": { "A": "High occlusion caused by trees and building curvature", "B": "Insufficient resolution to distinguish smaller targets", "C": "Poor lighting conditions affecting visibility", "D": "Excessive motion blur on moving targets" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image shows a street-level urban environment with prominent buildings and trees creating shaded areas and occlusions. A visible drone is present, but tree coverage and building curvature obstruct large portions of the scene, potentially limiting the visibility and detection of drones and pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_085.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_085.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_085.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_444", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_308", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the drone in the image positioned relative to the central avenue below?", "options": { "A": "Hovering directly above the central avenue", "B": "To the right of the central avenue, near a tall building", "C": "On the left side, over open parkland", "D": "Far away from the central avenue, outside the urban area" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a dense urban environment with large buildings on either side of a tree-lined central avenue. A smaller drone is visible hovering near a tall building on the right side of the avenue.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_444.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_444.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_444.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_041", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_126", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the spatial position of the green helipad relative to the urban environment?", "options": { "A": "The green helipad is located at the base of a tall building in the center of the urban layout", "B": "The green helipad is positioned at the top of a high-rise structure surrounded by other tall buildings", "C": "The green helipad is situated on an open field away from the dense urban structures", "D": "The green helipad is located on a parking area near the edge of the urban landscape" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of a green helipad located on the top of a high-rise building surrounded by dense urban structures, including other tall buildings and streets below.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_041.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_041.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_041.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_065", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_486", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "0", "B": "1", "C": "5", "D": "2" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_065.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_065.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_065.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_004_frame_159", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_281", "question_type": "Usability Assessment", "question": "How usable is this image from UAV2 for detecting and tracking vehicles and pedestrians?", "options": { "A": "Highly usable as the image provides clear visibility of roadways and sufficient detail for targets", "B": "Moderately usable due to partially obstructed roadways and reduced visibility of smaller targets", "C": "Low usability as major occlusions block significant portions of the road, affecting detectability", "D": "Not usable as image quality and perspective make detection and tracking infeasible" }, "correct_answer": "A", "annotation_info": "", "image_description": "This image shows a wide urban environment captured from UAV2. The roadways are clearly visible with good contrast and minimal visual obstructions, providing high usability for detecting and tracking vehicles and pedestrians. Pedestrian areas and some sidewalks are less detailed but remain observable. Conditions support accurate perception.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_159.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_159.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_159.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_043", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_215", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone partially occluded by dense tree foliage located near the center-right area of the image that requires tracking assistance", "B": "Drone hovering over the intersection near the bottom edge with potential traffic interference that requires trajectory analysis", "C": "Drone positioned near the pedestrian crossing in the center of the image with shadows affecting visibility and requiring lighting enhancement", "D": "Drone flying close to the building walls in the upper-right area with reflection issues that require precise detection" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region near the center-right area beneath dense tree foliage, creating visibility challenges that require tracking coordination.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_043.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_043.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_043.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_075", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_496", "question_type": "Observing Posture", "question": "Based on UAV1's perspective, which target object is most likely to require immediate monitoring in this scene?", "options": { "A": "A pedestrian walking near the shadowed area", "B": "A drone hovering within the forested region", "C": "A bicycle hidden behind the trees", "D": "A stationary vehicle outside the UAV's view" }, "correct_answer": "B", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 57.35565913445506, 'y': 18.779793463200033, 'width': 1.8794195145303831, 'height': 2.189055679759509, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "The scene shows a forested area and a tiled plaza, with a drone visible in the forested region. There are no visible vehicles, pedestrians, or bicycles in the UAV1's immediate field of view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_075.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_075.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_075.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_053", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_375", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "3", "B": "1", "C": "5", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_053.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_053.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_053.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_079", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_165", "question_type": "Why to Collaborate", "question": "Why should UAV3 collaborate with other UAVs in this scenario?", "options": { "A": "To obtain clearer visibility of the target that appears distant and small in its current view", "B": "To adjust the camera angles for better alignment between UAVs", "C": "To reduce computational load across all UAVs by distributing tasks", "D": "To increase coverage by extending the field of view to peripheral areas" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV3's view shows the target object (on the helipad) appearing small and distant compared to the closer perspectives captured by other UAVs. The annotation highlights the limited visibility of the object in UAV3\u2019s view and its larger, more visible appearance in other views.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_079.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_079.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_079.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_052", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_562", "question_type": "Object Recognition", "question": "Which factor would make it difficult to identify a pedestrian in this aerial view from the UAV?", "options": { "A": "The density of trees creating shadowed areas", "B": "The absence of moving vehicles in the scene", "C": "The uniform alignment of buildings", "D": "The lack of any pedestrians in open areas" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a top-down view of an urban plaza surrounded by buildings. The scene includes dense trees creating shadows, open paved areas, and no visible pedestrians at this angle.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_052.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_052.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_052.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_520", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_314", "question_type": "Object Grounding", "question": "From UAV1's aerial perspective, what is the spatial alignment of the observed drones within the urban environment?", "options": { "A": "The drones are positioned parallel to each other, hovering along the central avenue's edges.", "B": "The drones are hovering diagonally at opposite corners of the central avenue.", "C": "The drones are located on top of two adjacent buildings in the urban area.", "D": "The drones are flying randomly across the city skyline without a fixed alignment." }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 captures two drones hovering parallel to each other above the edges of a central avenue surrounded by tall urban buildings and trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_520.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_520.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_520.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_031", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_31", "question_type": "Why to Collaborate", "question": "What is the main reason UAV2 should collaborate with other UAVs in this scenario?", "options": { "A": "To resolve occlusion caused by dense foliage obstructing the road", "B": "To synchronize UAV position data across multiple views", "C": "To increase resolution for better object detection accuracy", "D": "To reduce overlapping field of vision between UAVs" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's view shows dense trees blocking the visibility of the road, including any potential dynamic elements like pedestrians or vehicles. Other UAVs capture complementary perspectives that may reveal the obscured areas behind the foliage. The annotation indicates occlusion zones at position (42.7%, 53.2%) with size 10.1%x7.8%.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_031.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_031.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_031.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_085", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_407", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone partially obscured by the structure near the bottom edge that requires visibility enhancement", "B": "Drone flying alongside the building fa\u00e7ade in the upper-left area that requires trajectory clarification", "C": "Drone under dense tree shadows near the road edge that needs lighting analysis", "D": "Drone hovering above the open pavilion in the center of the scene that requires altitude verification" }, "correct_answer": "D", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region near position (54.8%, 38.9%) with size 1.5%x2.8%, hovering above the open pavilion structure in the center of the scene, requiring height and positional verification.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_085.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_085.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_085.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_169", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_281", "question_type": "Object Grounding", "question": "From UAV2's aerial perspective, where is the crane positioned relative to the surrounding buildings?", "options": { "A": "The crane is positioned on top of the tallest building in the left section of the image.", "B": "The crane is located on the roof of a mid-rise building in the center-right section of the image.", "C": "The crane is installed on an open construction site near a highway in the bottom-left corner of the field of view.", "D": "The crane is hanging midway between two skyscrapers along the central roadway." }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a crane mounted on a mid-rise building located in the center-right of the frame amidst high-rise buildings, with a central roadway extending to the horizon.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_169.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_169.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_169.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_076", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_76", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone partially occluded by a tree near the center of the crosswalk that requires precise position and velocity updates", "B": "Drone casting a shadow on the road near the bottom-edge midsection that requires lighting adjustment for better detection", "C": "Drone flying near the top-right corner close to the building entrance that requires trajectory confirmation", "D": "Drone observed above the vehicle on the right-hand road near the parked blue car that requires range clarification" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 captures a drone in the marked region near the center of the crosswalk, where it is partially occluded by a tree and needs detailed position and velocity information for effective collaboration.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_076.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_076.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_076.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_046", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_368", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked region near the structure with four pillars and a roof?", "options": { "A": "Drone under shadows near the center of the structure that requires lighting compensation for accurate detection", "B": "Drone partially obscured by light reflections from the nearby building windows that requires contrast enhancement", "C": "Drone moving at low altitude under the structure's roof that needs trajectory tracking for safe navigation", "D": "Drone with overlapping features near the trees in the background that requires target separation" }, "correct_answer": "A", "annotation_info": "", "image_description": "The images from UAV2 show a drone in the marked region near a structure with four pillars and a roof. The drone is under shadows cast by the structure and may require detailed lighting compensation for accurate detection and tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_046.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_046.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_046.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_008", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_8", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting and tracking bicycles and vehicles with UAV1?", "options": { "A": "Highly suitable; targets are clearly visible without major obstructions", "B": "Moderately suitable; partial occlusions by trees may hinder tracking", "C": "Low suitability; heavy occlusions make targets difficult to track", "D": "Not suitable; targets are completely occluded and undetectable" }, "correct_answer": "B", "annotation_info": "", "image_description": "The aerial image shows vehicles and bicycles in a tree-dense urban area. Trees partially occlude the targets, especially the blue vehicle and the bicycle near the crosswalk. Shadows may further obscure parts of targets, limiting usability for detection and tracking tasks.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_008.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_008.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_008.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_098", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_417", "question_type": "Object Grounding", "question": "From the UAV's spatial perspective, where is the canopy structure positioned relative to the building?", "options": { "A": "The canopy structure is behind the building", "B": "The canopy structure is to the east of the building", "C": "The canopy structure is directly in front of the building", "D": "The canopy structure is farther away from the building near the road" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV provides an aerial view of an urban scene featuring a paved plaza with a large building and a canopy structure directly in front of the building. Several trees and a road are also visible to the side.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_098.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_098.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_098.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_027", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_27", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone occluded by dense foliage near the upper-left corner that requires clearer visibility adjustments", "B": "Drone hovering above a pedestrian crosswalk in the center of the image that needs precise location confirmation", "C": "Drone partially hidden under shadows near the bottom edge of the frame, requiring shadow compensation", "D": "Drone with minimal motion near parked vehicles across the right side of the image that needs velocity estimation" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region occluded by dense foliage near the upper-left corner that requires more precise tracking and visibility improvement for accurate detection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_027.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_027.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_027.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_041", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_360", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the pedestrian positioned relative to the building and the road?", "options": { "A": "The pedestrian is under the canopy in front of the building, perpendicular to the road", "B": "The pedestrian is on the road shoulder close to the building's entrance", "C": "The pedestrian is under the trees parallel to the road", "D": "The pedestrian is beside the building's side wall away from the main road" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a pedestrian under a canopy structure directly in front of a multi-story building, which is adjacent to a roadside with aligned trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_041.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_041.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_041.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_031", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_353", "question_type": "Usability Assessment", "question": "How usable is this image from UAV1 for detecting and tracking pedestrians along the sidewalk?", "options": { "A": "Highly usable due to clear visibility of the sidewalk and no occlusions", "B": "Moderately usable because the trees partially obstruct the sidewalk view", "C": "Low usability due to severe occlusions and lack of pedestrian visibility", "D": "Not usable since the image lacks sufficient details for detection" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a clear urban environment with buildings, sidewalks, and roads. Trees partially obstruct the view of the sidewalk, which impacts the visibility and tracking of potential pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_031.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_031.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_031.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_020", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_342", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone under shadows near the center of the canopy structure requiring lighting compensation for accurate detection", "B": "Drone closely blending with urban building textures on the left side of the canopy structure requiring enhanced contrast details", "C": "Drone hovering above the road near the bottom edge of the image requiring trajectory prediction and speed analysis", "D": "Drone moving near grouped trees along the road on the right side requiring obstacle avoidance mapping" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region near the canopy structure's center at position (53.6%, 48.4%) with size 1.3%x2.2%. The drone is visually affected by shadows, making lighting compensation necessary for accurate detection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_020.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_020.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_020.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_051", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_472", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_051.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_051.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_051.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_048", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_370", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection quality for pedestrians and bicycles in this image?", "options": { "A": "Overexposure due to direct sunlight", "B": "Occlusion by vegetation and trees", "C": "Low contrast due to reflective surfaces", "D": "Incomplete image capture from the UAV sensor" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a row of trees along the sidewalk and street, partially obstructing areas where pedestrians and bicycles would typically appear, creating occlusion issues that reduce detection quality.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_048.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_048.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_048.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_086", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_597", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which target is prominently visible near the lower-left corner of the scene?", "options": { "A": "A pedestrian walking near the building", "B": "A parked bicycle next to the building", "C": "A stationary drone located on the open area", "D": "A moving sedan near the trees" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an urban scene with buildings, trees, and open pavement. Near the lower-left corner, a parked bicycle is visible close to the shadow of a building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_004", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_325", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the spatial relationship between the shaded canopy structure and the road lined with trees?", "options": { "A": "The shaded canopy structure is directly adjacent to the road lined with trees on the same side.", "B": "The shaded canopy structure is positioned further away from the road, separated by an open plaza.", "C": "The shaded canopy structure is located along the centerline of the road with trees on both sides.", "D": "The shaded canopy structure is positioned underneath the tree canopy along the roadside." }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV's aerial view captures a shaded canopy structure on a tiled plaza, separated by a strip of trees and a road leading towards a background of urban buildings.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_004.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_004.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_004.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_036", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_122", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "1", "B": "0", "C": "2", "D": "3" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_036.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_036.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_036.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_061", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_146", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the drone hovering over the helipad in UAV1's aerial view?", "options": { "A": "The drone now flying away from the helipad, visible near the building's edge in UAV2's perspective", "B": "The drone hovering near the ground park area in UAV3's aerial view", "C": "The drone seen flying over a nearby rooftop in UAV3's perspective", "D": "The drone fully occluded behind a skyscraper in UAV2's field of view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a drone hovering stationary over the helipad; UAV2's perspective shows the same drone flying away from the helipad near the building's edge.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_061.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_061.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_061.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_012", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_433", "question_type": "Why to Collaborate", "question": "What is the main reason UAV2 should collaborate with other UAVs in this scenario?", "options": { "A": "To obtain a larger and clearer view of the target that appears too small or distant", "B": "To compensate for shadowing effects in the image caused by structural elements", "C": "To reduce time required for multi-perspective object labeling", "D": "To synchronize flight paths for uniform coverage of the area" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The UAV2 image captures a scene where the target is small and distant, resulting in limited visibility and insufficient detail. Other UAV perspectives provide a larger and clearer view of the target, as indicated by the annotation: 'The target appears too small or distant in the current image, but is larger and more visible in the other perspective.'", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_012.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_012.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_012.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_044", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_366", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "2", "B": "0", "C": "1", "D": "3" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_044.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_044.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_044.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_083", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_595", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection quality for vehicles and pedestrians in this image?", "options": { "A": "Motion blur caused by UAV movement", "B": "Occlusion caused by dense tree foliage", "C": "Low resolution due to UAV camera limitations", "D": "Overexposure caused by bright lighting conditions" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows an urban environment with trees whose dense foliage occludes the view of the road and surrounding areas, reducing visibility of vehicles and pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_083.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_083.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_083.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_001_frame_063", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_63", "question_type": "Scene Description", "question": "In this scene captured by UAV3, what is the most likely monitoring priority based on the visibility of stationary objects and movement patterns?", "options": { "A": "Tracking the parked drone for safety and coordination", "B": "Monitoring pedestrian movement in the surrounding sidewalks", "C": "Analyzing vehicle traffic flow along the road lanes", "D": "Detecting and monitoring bicycles for dynamic behaviors" }, "correct_answer": "A", "annotation_info": "Image quality: Excellent (5/5) - Sharp, clean, balanced colors, no artifacts.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "The scene depicts an urban roadside environment where a stationary drone is visible on the sidewalk. The focus is on UAV monitoring priorities related to target movement patterns or stationary objects.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_063.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_063.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_063.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_022", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_344", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting and tracking bicycles in the street area?", "options": { "A": "Highly suitable with clear visibility of the street and potential paths", "B": "Moderately suitable with some visual occlusions from trees", "C": "Low suitability due to minimal visual access to the street area", "D": "Unsuitable as the image lacks key elements for bicycle detection and tracking" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a UAV view of a street and nearby urban structures. The street area is partially visible but has significant occlusions from tree canopies, which could impact the detection and tracking of bicycles. There are no apparent bicycles in the scene currently, and the perspective may limit usability for dynamic tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_022.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_022.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_022.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_039", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_550", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the small UAV positioned relative to the buildings and trees in the plaza?", "options": { "A": "The UAV is positioned at the center of the plaza, surrounded by buildings on three sides and trees scattered toward the edges.", "B": "The UAV is positioned next to the row of trees lining the sidewalk adjacent to the blue building.", "C": "The UAV is positioned between the two buildings at the bottom left corner near the arched structure.", "D": "The UAV is positioned on the rooftop of the blue building directly across from the plaza." }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV's aerial view shows a plaza surrounded by buildings, with trees lining pathways. A small UAV is visible at the center of the open plaza.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_039.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_039.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_039.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_001_frame_005", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_5", "question_type": "Scene Comparison", "question": "What is the most significant challenge for accurate multi-view perception in this UAV scene?", "options": { "A": "Occlusion of the road due to dense tree coverage", "B": "Poor visibility caused by low light conditions", "C": "High vehicle density obstructing targeting objects", "D": "Disorientation from the UAV's flight instability" }, "correct_answer": "A", "annotation_info": "Perception degradation: Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 65.097588978186, 'y': 22.65595101415997, 'width': 2.5258323765786344, 'height': 2.2451843347365745, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The UAV scene captures a road partially covered by dense tree foliage, creating significant occlusion challenges for object detection and monitoring.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_005.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_005.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_005.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_065", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_237", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "5", "B": "3", "C": "2", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_065.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_065.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_065.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_041", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_213", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone occluded by dense tree foliage near the right sidewalk that requires precise position details", "B": "Drone moving near the intersection of the crosswalks in the center that requires velocity estimation", "C": "Drone partially under shadow on the road that requires lighting adjustment for better tracking", "D": "Drone flying above the pavement near the building entrance that needs height measurement confirmation" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 captures a drone in the marked region near the right sidewalk, surrounded by dense tree foliage, requiring clear position clarification for better detection and tracking. The marked region corresponds to position (11.9%, 25.5%) with size 3.6%x3.6%, as indicated.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_041.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_041.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_041.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_021", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_21", "question_type": "Causal Assessment", "question": "What is the primary cause affecting the detection of vehicles, pedestrians, and bicycles in this image?", "options": { "A": "Overexposure due to sunlight causing glare", "B": "Color blending between targets and surroundings", "C": "Occlusion by dense foliage obstructing visibility", "D": "Motion blur caused by moving targets" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image is taken from a drone's perspective showing a street lined with trees. Dense foliage from the trees partially obstructs views of targets such as vehicles and bicycles, making detection challenging.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_021.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_021.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_021.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_022", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_108", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the helipad located relative to the high-rise buildings?", "options": { "A": "The helipad is positioned on top of a high-rise building closest to the bottom right of the image", "B": "The helipad is on a rooftop in the center of the image surrounded by high-rise buildings", "C": "The helipad is positioned on the outskirts of the city near the park visible in the background", "D": "The helipad is in a ground-level clearing amidst the high-rise buildings" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV's aerial view captures a helipad situated atop a high-rise building in the foreground, surrounded by other skyscrapers and urban infrastructure.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_022.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_022.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_022.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_070", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_582", "question_type": "Why to Collaborate", "question": "What is the main reason UAV2 should collaborate with other UAVs in this scenario?", "options": { "A": "To improve visibility of the target affected by shadow and lighting imbalance", "B": "To analyze the flight path of UAVs in a computationally efficient manner", "C": "To synchronize UAV positions in real-time for better trajectory mapping", "D": "To capture a wider field of view across multiple angles in the airspace" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image from UAV2 shows the target under shadow, making it difficult to perceive. The annotation reveals lighting imbalance and possible blur affecting UAV2's image quality. Other UAV perspectives offer proper lighting conditions and provide clearer information about the target's position.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_070.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_070.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_070.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_094", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_416", "question_type": "Observing Posture", "question": "Based on the UAV's view, which target object is most likely to require monitoring in this scene?", "options": { "A": "A drone hovering near the trees", "B": "Vehicles moving along the road", "C": "Pedestrians walking across the plaza", "D": "A bicycle maneuvering on the road" }, "correct_answer": "B", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 53.100775193798455, 'y': 49.061154177433245, 'width': 1.3178294573643399, 'height': 1.7915590008613265, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene includes a road lined with trees, buildings in the background, and an open plaza in the foreground. The UAV has a wide perspective of the area with a clear view of the road where vehicles are likely moving.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_094.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_094.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_094.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_016", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_188", "question_type": "Why to Collaborate", "question": "What is the main reason UAV1 should collaborate with other UAVs in this scenario?", "options": { "A": "To compensate for brightness imbalance and provide a clearer view of the target", "B": "To synchronize data between all UAVs for simultaneous observation", "C": "To expand the flight coverage area for broader surveillance capabilities", "D": "To reduce system workload by splitting computational tasks" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image from UAV1 shows brightness imbalance and limited visibility, making the target appear small or distant. UAVs 2 and 3 provide clearer views of the same area, compensating for visibility and image quality issues. The annotation explicitly states that the current image suffers from brightness imbalance and limited visibility, requiring collaboration with other UAVs.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_016.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_016.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_016.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_369", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_302", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "6", "B": "9", "C": "8", "D": "11" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_369.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_369.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_369.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_004_frame_054", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_270", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "4", "B": "1", "C": "3", "D": "2" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_054.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_054.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_054.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_002_frame_086", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_172", "question_type": "Scene Comparison", "question": "Which UAV perspective provides the clearest view for detecting the helipad's surrounding structures?", "options": { "A": "UAV1 provides the clearest view of the helipad but less context of surrounding structures", "B": "UAV2 provides the best overall view of both the helipad and its immediate surroundings", "C": "UAV3 focuses more on distant structures, making the helipad less visible", "D": "All three UAVs provide equally clear views of the helipad and surrounding structures" }, "correct_answer": "B", "annotation_info": "Image quality: Excellent (5/5) - Sharp, clean, balanced colors, no artifacts.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "UAV1 shows a close-up view of the helipad with limited visibility of surrounding structures. UAV2 provides a balanced view of the helipad and its surrounding urban layout. UAV3 captures a distant perspective emphasizing surrounding buildings but with reduced focus on the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_026", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_112", "question_type": "Object Matching", "question": "The UAV1 aerial view shows a drone positioned in the center of a helipad marked 'H'. In another UAV's perspective, where is this drone located?", "options": { "A": "The drone now hovering near the edge of the helipad as seen in UAV2's perspective", "B": "The drone now hovering above the edge of a skyscraper as seen in UAV3's perspective", "C": "The drone now descending onto the helipad in UAV2's perspective", "D": "The drone now hovering above a park adjacent to the helipad as seen in UAV3's aerial view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view captures a drone positioned at the center of a helipad on a tall building; UAV2's perspective shows the same drone near the edge of the helipad, while UAV3 provides angles looking at nearby structures.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_026.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_026.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_026.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_006", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_92", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection quality for the drone in this image?", "options": { "A": "The drone is too small relative to the image resolution.", "B": "Overexposure due to high reflectivity of the helipad surface.", "C": "Heavy occlusion by nearby structures.", "D": "Sensor noise from the UAV camera." }, "correct_answer": "A", "annotation_info": "", "image_description": "The image from UAV1 shows a drone on a helipad, but its small size relative to the high-altitude camera resolution reduces detection quality. Surrounding urban structures do not obscure the view, and lighting conditions appear uniform without overexposure.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_006.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_006.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_006.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_079", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_164", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the spatial relationship of the helipad to the surrounding structures?", "options": { "A": "The helipad is situated on the ground level near the base of the tall building", "B": "The helipad is positioned at the top of a tall building overlooking the urban area", "C": "The helipad is located in the middle floor section of a building with clear observation points", "D": "The helipad is at the edge of a park surrounded by low-rise structures" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an urban scene with a helipad situated on the roof of a tall, modern building. The view highlights surrounding skyscrapers, smaller buildings, roads, and green spaces below.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_079.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_079.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_079.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_082", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_254", "question_type": "Usability Assessment", "question": "How well does this image facilitate detecting and tracking pedestrians within the scene captured by UAV2?", "options": { "A": "Highly usable, with pedestrians clearly visible and unobstructed", "B": "Moderately usable, with partial occlusion by trees affecting visibility", "C": "Low usability, with heavy occlusion from environmental objects", "D": "Not usable due to complete obstructions of pedestrian paths" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image depicts a tree-lined urban pathway with significant foliage creating occlusions. Pedestrian paths are largely obscured by the dense tree coverage, reducing usability for detecting and tracking pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_082.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_082.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_082.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_096", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_418", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced vehicle and pedestrian visibility in this UAV2 image?", "options": { "A": "Occlusion by trees along the road", "B": "Low resolution from image compression", "C": "Overexposure in brightly lit areas", "D": "Partial obstruction by architectural structures" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image from UAV2 shows trees along the roadside obstructing the view of potential vehicles and pedestrians, making their detection challenging.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_096.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_096.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_096.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_089", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_510", "question_type": "Why to Collaborate", "question": "Why does UAV1 need to collaborate with other UAVs based on the lighting conditions in the image?", "options": { "A": "To supplement UAV1's limited ability to detect the target under shadow", "B": "To expand the field of view and cover more regions", "C": "To ensure the drones have synchronized data collection timestamps", "D": "To reduce computational load across all UAVs in the system" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "The image from UAV1 shows the target area partially under shadow, making it difficult to perceive the target. Other UAVs, as shown in subsequent images, capture the same area under proper lighting conditions, allowing better visibility. Annotation highlights the necessity for multi-UAV collaboration to address information gaps caused by shadowing.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_089.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_089.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_089.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_014", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_336", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "1", "B": "3", "C": "2", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_014.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_014.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_014.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_010", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_522", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "4", "B": "2", "C": "1", "D": "5" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_010.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_010.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_010.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_043", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_464", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "4", "B": "5", "C": "1", "D": "3" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_043.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_043.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_043.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_060", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_60", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone at the center of the image, partially occluded by the shadows of trees, requiring position and shadow compensation", "B": "Drone near the pedestrian crossing in the lower-center area, requiring trajectory prediction and obstacle verification", "C": "Drone with reduced contrast due to blending into the road near the upper-center area, requiring detail enhancement", "D": "Drone hovering low and surrounded by dense foliage near the right edge of the image, requiring precise altitude estimation" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 displays a drone in the marked region at the center of the image near the pedestrian crossing. The drone is partially occluded by tree shadows, creating visibility challenges and requiring detailed position and shadow compensation.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_060.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_060.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_060.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_001_frame_013", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_13", "question_type": "Scene Description", "question": "What challenge is introduced by the UAV's viewing angle in terms of detecting target objects in this scene?", "options": { "A": "The presence of dense vegetation obscures potential pedestrians or vehicles.", "B": "Excessive glare from the road surface prevents clear object identification.", "C": "The camera's field of view does not capture any part of the road.", "D": "The UAV is positioned too high to distinguish between target object types (e.g., vehicle or bicycle)." }, "correct_answer": "A", "annotation_info": "Perception issues: Occluded; Perception degradation: Object occlusion; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 30.761243178551734, 'y': 23.265257012519296, 'width': 3.5479055508060715, 'height': 5.107360343324911, 'rotation': 17.16817243518176, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 30.66250872484746, 'y': 22.490723634355902, 'width': 4.0589689976700685, 'height': 4.839509116251907, 'rotation': 24.33124191693412, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1; Collaboration reasons: The current image suffers from object occlusion, while the other perspective has a complete view of the object and can provide complementary information.", "image_description": "The scene shows a road partially obstructed by dense trees and foliage, making it difficult for the UAV camera to clearly view potential target objects such as vehicles or pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_013.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_013.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_013.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_045", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_466", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_045.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_045.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_045.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_038", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_459", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "0", "B": "1", "C": "2", "D": "4" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_038.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_038.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_038.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_083", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_169", "question_type": "Why to Collaborate", "question": "What is the primary reason UAV3 should collaborate with other UAVs based on the given images?", "options": { "A": "To obtain detailed structural information about the helipad's complex geometry from multiple perspectives", "B": "To compensate for partial occlusion of ground features caused by UAV3's view of the building", "C": "To expand the field of view and include surrounding low-rise areas missed by UAV3", "D": "To improve time synchronization for event detection in urban scenes" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3 captures the top structure of a tall building with partial occlusion of ground features. Images from other UAVs provide complementary perspectives to better view occluded regions like the streets and park near the building. Collaboration helps fill gaps in the urban scene context.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_083.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_083.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_083.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_067", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_239", "question_type": "Causal Assessment", "question": "What is the primary cause affecting the detection of bicycles and pedestrians in this UAV2 view?", "options": { "A": "High noise due to environmental interference", "B": "Partial occlusion by dense foliage", "C": "Overexposure from bright sunlight", "D": "Motion blur caused by fast-moving targets" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV2 image shows sidewalks partially covered by dense tree foliage, causing occlusion that significantly impacts the detection of bicycles and pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_067.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_067.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_067.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_054", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_475", "question_type": "Scene Comparison", "question": "What is the most prominent target object visible in the UAV's monitoring view of this scene?", "options": { "A": "A drone hovering near the structure", "B": "Pedestrians walking through the green area", "C": "Vegetation and tree clusters in the monitored space", "D": "Vehicles parked along the outer boundaries" }, "correct_answer": "C", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 26.207513407056204, 'y': 25.293704205304373, 'width': 0.8830260460897293, 'height': 0.8888048336914584, 'rotation': 331.24763157278704, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 26.204815140743243, 'y': 25.152697466934992, 'width': 0.9164628796887274, 'height': 0.945602422086631, 'rotation': 333.317539603014, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1\uff0cUAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The scene captured by UAV2 features an open area with a combination of structural elements and a green space densely populated by bushes and tree clusters. No clear presence of pedestrians, vehicles, or drones is visible as prominent target objects.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_054.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_054.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_054.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_037", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_37", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone partially hidden behind tree foliage near the center that requires position clarification", "B": "Drone near the pedestrian crossing in the middle of the image that needs altitude confirmation", "C": "Drone under shadow near the road intersection that requires lighting enhancement", "D": "Drone close to the moving vehicle on the right side of the image that requires trajectory prediction" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 shows a drone in the marked region near the center of the image, partially hidden by tree foliage, requiring detailed position information to ensure accurate tracking across views.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_037.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_037.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_037.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_007_frame_009", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_521", "question_type": "Observing Posture", "question": "Based on the UAV's perspective, what appears to be the most challenging aspect of monitoring this scene?", "options": { "A": "Distinguishing between pedestrians and bicycles due to poor visibility", "B": "Monitoring areas obscured by dense tree coverage", "C": "Tracking vehicles moving quickly around the curved road", "D": "Detecting drone activity amidst high-rise buildings" }, "correct_answer": "B", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 69.28025191630293, 'y': 40.327868139587544, 'width': 1.1665362503981527, 'height': 1.2673480251239297, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "The scene shows an urban environment with high-rise buildings, open paved areas, and dense patches of trees that obscure parts of the ground from the UAV's view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_009.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_009.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_009.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_010", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_332", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_010.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_010.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_010.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_577", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_318", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the drone hovering near the roof of the large building in UAV2's perspective?", "options": { "A": "The drone now seen hovering along the central avenue near the futuristic structure in UAV3's perspective", "B": "The vehicle parked on the side of the avenue in UAV3's field of view", "C": "The pedestrian walking along the alleyway seen in UAV2's perspective", "D": "The drone now hovering close to the smaller blue building near the corner in UAV1's view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone hovering near the roof of the large building on the right-hand side of the avenue; UAV3's aerial view shows the same drone hovering along the central avenue near a futuristic structure.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_577.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_577.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_577.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_009", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_331", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_009.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_009.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_009.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_080", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_80", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what type of vehicle is visible near the crosswalk on the right side of the road?", "options": { "A": "A parked motorcycle", "B": "A blue car", "C": "A bicycle on the sidewalk", "D": "A delivery truck" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of a city intersection, with a blue car visible near the crosswalk on the right, pedestrians and bicycles can be seen on sidewalks, and trees partially obscure parts of the image.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_080.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_080.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_080.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_003", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_325", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_043", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_43", "question_type": "Why to Collaborate", "question": "What is the primary reason UAV3 should collaborate with other UAVs in this scenario?", "options": { "A": "To overcome visibility issues caused by dense vegetation and compensate for limited image quality", "B": "To obtain larger field coverage of the area for mapping purposes", "C": "To synchronize UAV movement to avoid collisions during operation", "D": "To enhance color fidelity across all UAV perspectives" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image captured by UAV3 contains dense vegetation obstructing visibility, with limited image quality due to brightness imbalance. Other UAVs provide unobstructed views of the road and reduce information gaps for detecting objects (e.g., bicycles) hidden behind trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_043.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_043.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_043.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_021", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_343", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_021.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_021.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_021.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_002_frame_084", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_170", "question_type": "Scene Comparison", "question": "How do the UAV perspectives differ in their ability to detect ground targets without obstruction?", "options": { "A": "UAV1 provides the least obstruction-free view for ground targets among the three perspectives", "B": "UAV2 offers a more comprehensive view of ground targets compared to UAV1", "C": "UAV3 has the least obstructions and provides the best view of ground targets across the area", "D": "All three UAVs provide an identical obstruction-free view of ground targets" }, "correct_answer": "C", "annotation_info": "Image quality: Excellent (5/5) - Sharp, clean, balanced colors, no artifacts.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "UAV1 shows a top-down view of the helipad but is closest and focuses primarily on this structure; UAV2 captures a broader perspective of the helipad and surrounding areas but still includes partial obstruction around edges; UAV3 is the farthest from the helipad and offers the widest field of view with minimal obstructions, enhancing ground target detection across the area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_010", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_522", "question_type": "Why to Collaborate", "question": "Why should UAV1 collaborate with other UAVs based on the scene visibility?", "options": { "A": "To compensate for the small or distant appearance of the target visible in UAV1's view", "B": "To identify the environmental shadows cast by nearby buildings and trees", "C": "To enhance color accuracy of UAV1's captured image", "D": "To expand the field of view for monitoring larger regions simultaneously" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV1 captures a scene showing a distant target partially visible among large building shadows, while other UAV views provide a clearer and closer perspective of the target's position and size. The annotation highlights the need for collaboration to overcome visibility limitations.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_010.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_010.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_010.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_006", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_517", "question_type": "Object Grounding", "question": "From the UAV's perspective, where is the drone located relative to the blue building at the center of the image?", "options": { "A": "The drone is directly in front of the blue building near the treeline", "B": "The drone is at the base of the blue building's shadow in the open area", "C": "The drone is on the left side of the blue building along the row of trees", "D": "The drone is behind the blue building in the main road area" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a blue building in the center surrounded by trees and open spaces. A shadow from the blue building extends over the ground, with a drone visible at its base.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_006.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_006.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_006.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_099", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_421", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV2", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_099.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_099.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_099.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_082", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_166", "question_type": "Object Matching", "question": "In the UAV3's aerial view, a small drone hovering just above the helipad's center is visible. Which target corresponds to this drone in the views of other UAVs?", "options": { "A": "The drone seen hovering at the edge of the helipad in UAV2's aerial perspective", "B": "The drone hovering at the center of the helipad as seen from a lower angle in UAV1's perspective", "C": "The quadcopter flying near surrounding buildings as captured in UAV1's view", "D": "The drone now stationary on the ground near the helipad in UAV2's perspective" }, "correct_answer": "B", "annotation_info": "", "image_description": "In UAV3's view, the drone is hovering at the center of the helipad atop a tall building. UAV1 captures the same drone hovering from a lower angle with a clear view of its position over the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_082.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_082.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_082.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_018", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_190", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "4", "B": "3", "C": "2", "D": "1" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_018.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_018.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_018.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_080", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_252", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV2", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_080.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_080.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_080.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_057", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_378", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the open pavilion structure positioned relative to the row of trees near the road?", "options": { "A": "The pavilion is directly to the right of the row of trees, closer to the road", "B": "The pavilion is directly in front of the row of trees, with a tiled area in between", "C": "The pavilion is positioned farther away from the road, opposite the row of trees", "D": "The pavilion is located behind the row of trees, parallel to the road" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a clear aerial scene of a tiled urban space with an open pavilion structure in the foreground. Beyond the pavilion, there is a road flanked by a row of green trees along the sidewalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_057.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_057.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_057.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_047", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_219", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_047.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_047.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_047.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_060", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_570", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what is the small object visible near the open plaza that stands out for its distinct compact structure?", "options": { "A": "A pedestrian", "B": "A stationary car", "C": "A small surveillance drone", "D": "A tree branch on the ground" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures a wide view of an urban area featuring buildings, trees, and an open plaza. Near the plaza, a small surveillance drone is visible, identifiable by its compact structure and sharp shadows.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_060.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_060.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_060.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_024", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_110", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "3", "B": "2", "C": "5", "D": "1" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_024.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_024.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_024.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_060", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_382", "question_type": "Causal Assessment", "question": "What is the primary reason for reduced visibility of pedestrians and bicycles in this UAV3 image?", "options": { "A": "Strong shadows cast by trees and structures", "B": "Partial occlusion caused by building reflections", "C": "Limited field of view due to camera angle orientation", "D": "Overexposure from direct sunlight on surfaces" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image captures an urban area with buildings and roads surrounded by trees. Strong shadows from the trees and structures obscure parts of the sidewalk and road, reducing the visibility of potential pedestrians and bicycles.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_060.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_060.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_060.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_065", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_65", "question_type": "Usability Assessment", "question": "How suitable is the presented image for detecting bicycles on the road?", "options": { "A": "Highly suitable with clear and unobstructed bicycle visibility", "B": "Moderately suitable with minor obstructions affecting visibility", "C": "Low suitability due to significant occlusion by the trees", "D": "Unsuitable as bicycles are completely invisible in the scene" }, "correct_answer": "C", "annotation_info": "", "image_description": "This image, captured from UAV3, shows a road obscured by dense foliage. The view has significant occlusion from tree branches, making it challenging to detect targets like bicycles. A drone is faintly visible on the sidewalk, but no bicycles or pedestrians are clearly detectable due to obstructions.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_065.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_065.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_065.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_068", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_240", "question_type": "Scene Description", "question": "Which aspect of the scene is the highest priority for UAV monitoring in this image?", "options": { "A": "The operation of traffic lights at the intersection.", "B": "Identifying potential drones entering the airspace above the intersection.", "C": "Tracking pedestrian activity near the trees and crosswalks.", "D": "Monitoring vehicles approaching or crossing the intersection." }, "correct_answer": "D", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 35.81395348837209, 'y': 26.459948320413435, 'width': 1.937984496124031, 'height': 2.342807924203278, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image shows an urban intersection surrounded by trees with visible traffic lights at each crossing. Sidewalks and crosswalks are present, but no immediate pedestrian activity or bicycles are observed. The UAV's focus is likely on traffic monitoring as vehicles approach or cross the intersection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_068.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_068.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_068.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_088", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_408", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the white drone hovering near the concrete structure in UAV3's aerial view?", "options": { "A": "The white drone now positioned above the road, near the tree line in UAV1's perspective", "B": "The white drone seen hovering near the roof of the building in UAV2's aerial view", "C": "A silver drone now positioned directly next to the building entrance in UAV3's perspective", "D": "A black drone seen flying along the row of trees in UAV2's aerial view" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3's aerial view shows a white drone hovering near the concrete structure; UAV2's perspective shows the same white drone but hovering higher above the roof of the nearby building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_088.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_088.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_088.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_052", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_137", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the smaller drone positioned relative to the rooftop helipad?", "options": { "A": "The smaller drone is hovering centrally above the marked 'H' on the helipad", "B": "The smaller drone is positioned just outside the helipad's green boundary", "C": "The smaller drone is hovering far away on the opposite side of the building", "D": "The smaller drone is positioned at the edge of the helipad within the yellow ring" }, "correct_answer": "D", "annotation_info": "", "image_description": "The UAV captures a large rooftop helipad marked with a green and yellow boundary. A smaller drone is visibly hovering at the edge of the yellow ring near the helipad perimeter, with large buildings and streets surrounding the area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_052.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_052.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_052.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_015", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_15", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the blue car partially visible under the trees in UAV1's perspective?", "options": { "A": "The blue car now fully visible and parked near the crosswalk in UAV2's aerial view", "B": "The red sedan now partially visible under a tree in UAV3's perspective", "C": "The blue car seen parked next to another vehicle in UAV3's perspective", "D": "The black SUV now turning at the intersection visible from UAV2's view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a blue car partially obscured by trees near the crosswalk; UAV2's perspective reveals the same blue car now fully visible and parked near the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_577", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_318", "question_type": "Object Recognition", "question": "What UAV-specific target is flying between the buildings in this aerial scene?", "options": { "A": "A small passenger drone", "B": "A black surveillance drone", "C": "A civilian helicopter", "D": "A high-altitude UAV out of view" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV's aerial perspective shows a black surveillance drone flying between high-rise buildings in a cityscape, surrounded by roads and greenery below.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_577.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_577.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_577.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_029", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_450", "question_type": "Scene Comparison", "question": "Which UAV perspective provides the clearest visibility of the pink-flowering tree in the park area?", "options": { "A": "UAV1 shows the pink-flowering tree partially occluded by other trees.", "B": "UAV2 offers the clearest visibility of the pink-flowering tree from an unobstructed angle.", "C": "UAV3 captures the pink-flowering tree but it is overshadowed by nearby structures.", "D": "None of the UAVs provide clear visibility of the pink-flowering tree." }, "correct_answer": "B", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow, Others\uff08Please fill in below\uff09; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 26.66022600596061, 'y': 34.44397230390563, 'width': 2.0774210776466284, 'height': 1.8369690011481088, 'rotation': 345.59331484356346, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 67.7382319173364, 'y': 36.331164689373644, 'width': 2.4110218140068866, 'height': 2.85750733511928, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2\uff0cUAV3; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 has a closer view of both green and yellow trees but shows partial occlusion for the pink-flowering tree in the park. UAV2 provides an unobstructed perspective of the entire park and captures the pink-flowering tree in full detail. UAV3 offers a broader view but nearby structures and shadows limit the visibility of specific details such as the pink-flowering tree.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_029.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_029.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_029.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_055", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_141", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "2", "B": "1", "C": "5", "D": "0" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_055.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_055.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_055.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_078", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_499", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for pedestrians and bicycles in this scene?", "options": { "A": "Overlapping shadows from building structures", "B": "Occlusion caused by dense tree foliage", "C": "Reflection and glare from glass surfaces", "D": "Motion blur due to UAV camera movement" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows trees with dense and overlapping foliage that could obscure pedestrians and bicycles from being visible to the UAV's camera.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_078.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_078.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_078.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_005", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_177", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "1", "B": "4", "C": "2", "D": "0" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_005.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_005.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_005.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_035", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_357", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_035.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_035.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_035.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_026", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_198", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "5", "B": "2", "C": "4", "D": "3" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_026.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_026.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_026.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_004_frame_339", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_299", "question_type": "Usability Assessment", "question": "How usable is this image for detecting vehicles and pedestrians in an urban environment?", "options": { "A": "Highly usable due to clear visibility and minimal occlusions", "B": "Moderately usable due to distant targets and partial visual obstruction", "C": "Low usability as no vehicles or pedestrians are visibly detectable", "D": "Not usable due to poor lighting or image quality" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image captures an urban setting from a high vantage point with clear visibility of roads flanked by buildings and trees. Vehicles and pedestrians are distant and partially obscured by foreground structures, posing challenges for detection and tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_339.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_339.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_339.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_036", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_208", "question_type": "Scene Comparison", "question": "What spatial relationship is best exemplified in the UAV monitoring of this scene?", "options": { "A": "Alignment of pedestrian crossings with traffic lights ensuring safety", "B": "Proximity of trees to pedestrian pathways creating visibility challenges", "C": "Intersection complexity where vehicles from multiple lanes may conflict", "D": "Drone hovering above the intersection to monitor air traffic dynamics" }, "correct_answer": "C", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 59.30232558139535, 'y': 35.14211886304909, 'width': 1.3178294573643399, 'height': 2.7562446167097363, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 43.02325581395349, 'y': 31.834625322997418, 'width': 2.403100775193799, 'height': 2.756244616709729, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene shows an urban intersection with multiple lanes, traffic lights, pedestrian crossings, and trees surrounding the area. The UAV monitoring focus likely includes observing traffic flow and spatial relationships of different elements at the intersection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_036.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_036.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_036.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_047", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_558", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the black drone hovering over the open plaza, visible in UAV2's aerial view?", "options": { "A": "The black drone now seen near the curved building, stationary along the fa\u00e7ade in UAV3's perspective.", "B": "The small drone now seen near the blue skyscraper, moving swiftly towards the trees in UAV1's perspective.", "C": "The black drone now visible hovering above the road, close to the parked cars as seen in UAV4's aerial view.", "D": "The white drone stationary near the rows of trees, directly above the sidewalk in UAV1's perspective." }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a black drone hovering over the open plaza near a curved building. UAV3's perspective shows the same drone stationary, aligned near the fa\u00e7ade of the curved building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_047.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_047.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_047.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_015", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_527", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "5", "B": "1", "C": "4", "D": "3" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_058", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_380", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting and tracking pedestrians and bicycles from a UAV perspective?", "options": { "A": "Highly suitable due to clear visibility and minimal obstructions", "B": "Moderately suitable with some occlusions from trees and building shadows", "C": "Low suitability due to lack of identifiable pedestrians and bicycles", "D": "Unsuitable as the perspective is focused on static elements without movement visibility" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image shows a street and building area captured from a UAV perspective. While the image offers a clear view of stationary objects such as trees and roads, it lacks moving targets like pedestrians and bicycles necessary for detection and tracking tasks.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_058.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_058.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_058.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_062", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_482", "question_type": "Object Matching", "question": "In UAV1's aerial view, a drone is hovering over the shaded area of the plaza near the intersection of the white path. Which target in another UAV's perspective corresponds to this drone?", "options": { "A": "The drone seen hovering above the glass canopy structure in UAV2's aerial view", "B": "The drone hovering low above the green grassy area near the yellow tree in UAV3's perspective", "C": "The drone hovering above the shaded area of the plaza near the red-leafed tree in UAV2's view", "D": "The drone now seen parked on the ground near the wooden bench structure in UAV3's aerial view" }, "correct_answer": "C", "annotation_info": "", "image_description": "UAV1's aerial view shows a drone hovering over the shaded area of the plaza near the intersection of a white path. In UAV2's perspective, the same drone can be seen hovering above the shaded area near a red-leafed tree; UAV3 captures other drones in grassy and wooden areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_062.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_062.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_062.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_060", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_382", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "3", "B": "0", "C": "2", "D": "1" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_060.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_060.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_060.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_003", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_423", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the relative spatial arrangement of the trees near the central pathway?", "options": { "A": "The trees form a symmetrical row on both sides of the pathway", "B": "The trees are clustered on one side of the pathway, creating an asymmetrical layout", "C": "The trees are placed sporadically along both sides with no discernible pattern", "D": "The trees are evenly spaced in a diagonal grid configuration crossing over the pathway" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an aerial view of a central pathway bordered by trees forming symmetrical rows, separated by open grassy areas on both sides.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_078", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_590", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drones in the marked regions?", "options": { "A": "Drone partially hidden under the shadow of the blue building in the center of the image requiring precise position confirmation.", "B": "Drone flying close to the curved building on the right side of the image needing trajectory prediction for navigation.", "C": "Drone in the shadowed area near the cluster of trees at the bottom edge of the image requiring improved visibility information.", "D": "Drone stationary on the open pavement near the blue skyscraper in the upper-left corner of the image requiring altitude verification." }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 captures drones in marked regions positioned near the central open area, where shadows from buildings and trees obscure detection. Specific locations include the shadow under the blue building in the center, the curved building on the right side, trees at the bottom edge, and the pavement near the blue skyscraper in the upper-left corner.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_078.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_078.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_078.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_016", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_436", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the small object positioned relative to the group of trees?", "options": { "A": "The object is located at the center of the tree cluster", "B": "The object is positioned near the edge of the tree cluster, closer to the building", "C": "The object is outside the tree cluster, near the paved area", "D": "The object is behind the tree cluster, opposite to the paved area" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a group of trees in a grassy area adjacent to a paved section. A small object is visible near the edge of the tree cluster, closer to the building in the background.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_016.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_016.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_016.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_030", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_542", "question_type": "Causal Assessment", "question": "What is the primary factor affecting the detection of bicycles and drones in this image?", "options": { "A": "High levels of image noise from sensor limitations", "B": "Partial occlusion caused by trees and building structures", "C": "Overexposure due to direct sunlight on reflective surfaces", "D": "Limited resolution due to distant targets" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows several trees and surrounding buildings that partially block the view of bicycles and drones across the scene, leading to detection challenges caused by occlusion.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_030.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_030.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_030.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_012", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_182", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which target is partially obscured by a tree, making accurate detection more challenging?", "options": { "A": "A pedestrian on the crosswalk", "B": "A vehicle parked on the roadside", "C": "A compact surveillance drone", "D": "A motorcycle near the curb" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV's aerial view captures a crosswalk, a tree partially covering a surveillance drone, and a clear pedestrian area without vehicles in sight.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_012.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_012.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_012.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_004", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_90", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the drone hovering near the helipad in UAV2's aerial view?", "options": { "A": "The drone now seen flying above the building's glass structure in UAV3's perspective", "B": "The drone seen resting on the helipad surface in UAV1's aerial perspective", "C": "The drone now flying between the skyscrapers in UAV3's field of view near the city center", "D": "The drone stationary in mid-air near the outer edge of the helipad as seen in UAV1's view" }, "correct_answer": "D", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone hovering near the helipad; UAV1's perspective shows the same drone stationary in mid-air near the outer edge of the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_004.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_004.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_004.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_042", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_212", "question_type": "Object Grounding", "question": "From the UAV's perspective, how is Drone 1 positioned relative to the pedestrians near the crosswalk?", "options": { "A": "Drone 1 is hovering directly above the pedestrians", "B": "Drone 1 is positioned toward the center of the road away from the pedestrians", "C": "Drone 1 is aligned with the pedestrian group near the crosswalk", "D": "Drone 1 is near the tree canopy, obscuring its view of the pedestrians" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures Drone 1 hovering near the center of the road while pedestrians are grouped near the corner crosswalk. Trees and shadows partially cover other areas of interest.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_042.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_042.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_042.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_057", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_379", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "3", "B": "1", "C": "2", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_057.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_057.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_057.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_067", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_488", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection of drones and bicycles in this image?", "options": { "A": "Low contrast caused by lighting differences between shaded and illuminated areas", "B": "Motion blur caused by fast-moving UAV camera", "C": "Occlusion by dense tree leaves and branches", "D": "Overexposure caused by direct sunlight on the image sensor" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image shows areas with significant lighting differences, including shaded regions and brightly lit portions, potentially causing low contrast that impacts detection of drones and bicycles.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_067.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_067.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_067.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_048", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_465", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where are the drones located relative to the vegetation?", "options": { "A": "The drones are hovering directly above the grassy field in the center", "B": "The drones are positioned above the paved area near the building's structure", "C": "The drones are floating along the edge of the vegetation bordering the walkway", "D": "The drones are located within the trees, hidden by foliage" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view with vegetation on the left side, paved areas with a geometric building on the right side. Two drones are visible hovering near the paved area by the building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_048.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_048.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_048.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_040", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_40", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the tree canopy positioned relative to the road?", "options": { "A": "The tree canopy is directly on top of the road, fully covering it", "B": "The tree canopy is positioned beside the road, extending over the sidewalks", "C": "The tree canopy is hovering adjacent to the road without overlapping it", "D": "The tree canopy is located far away from the road, with no interaction" }, "correct_answer": "B", "annotation_info": "", "image_description": "From the UAV's perspective, tree canopies extend over both sidewalks beside a central road, partially casting shadows on the pavement below.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_040.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_040.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_040.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_044", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_366", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection quality for vehicles and pedestrians in this image?", "options": { "A": "Low contrast due to shadowing under trees", "B": "Partial occlusion by building structures", "C": "Obstruction caused by dense foliage", "D": "Overexposure due to sunlight reflections on buildings" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows that the building blocks the vehicles, making the objects below invisible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_044.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_044.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_044.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_003", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_424", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone partially occluded by tree branches near the center of the grassy area that requires precise position clarification", "B": "Drone under tall structures casting shadows in the upper-right region that requires lighting compensation for accurate detection", "C": "Drone flying low in the grassy area near the edge of the left pathway, requiring altitude verification", "D": "Drone with similar color to nearby vegetation under the shadowed area near the bottom-right corner that requires contrast enhancement for identification" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 identifies a drone in the marked region (grassy area near the center) partially occluded by tree branches, requiring detailed position and movement clarifications to address occlusion challenges and ensure accurate tracking across UAV views.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_087", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_508", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV1\uff0cUAV3", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "UAV1" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1\uff0cUAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_087.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_087.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_087.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_025", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_446", "question_type": "Why to Collaborate", "question": "Why should UAV3 collaborate with other UAVs when observing the target area?", "options": { "A": "To obtain a better view of the target, which appears larger and clearer in properly lit conditions in other UAVs' perspectives", "B": "To capture adjacent areas simultaneously to expand coverage", "C": "To enhance processing speed by sharing computational tasks across UAVs", "D": "To exclusively map shadowed regions using a single UAV strategy" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "In the UAV3 image, the target area is under shadow, making it difficult to perceive. Additionally, the target appears distant and small. Annotation highlights that other UAVs have better lighting conditions and views where the target appears larger and more visible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_025.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_025.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_025.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_066", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_66", "question_type": "Usability Assessment", "question": "How suitable is the image for tracking drones, vehicles, pedestrians, and bicycles?", "options": { "A": "Highly suitable as all targets are clearly visible", "B": "Moderately suitable due to partial tree occlusions", "C": "Low suitability due to extensive shadow coverage on targets", "D": "Not suitable as most targets are completely obscured" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a scene taken from a multi-UAV perspective, where partial occlusions from trees and shadow coverage impact visibility of targets. A drone is visible in the upper center of the image, but potential pedestrian or bicycle targets on the sidewalk may be partially obscured due to tree branches and shadows.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_066.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_066.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_066.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_069", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_581", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "3", "B": "4", "C": "0", "D": "1" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_069.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_069.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_069.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_002_frame_045", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_131", "question_type": "Scene Comparison", "question": "How does the type of detected targets differ among the three UAV perspectives?", "options": { "A": "UAV1 focuses only on the helipad, while UAV2 and UAV3 capture nearby buildings and ground areas", "B": "UAV3 detects ground-level objects missed by UAV1 and UAV2", "C": "UAV1 detects aerial targets, while UAV3 primarily detects buildings and ground targets", "D": "All three UAVs detect the same types of targets in separate zones" }, "correct_answer": "A", "annotation_info": "Image quality: Excellent (5/5) - Sharp, clean, balanced colors, no artifacts.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "UAV1 primarily shows a close-up of the helipad with limited surrounding context; UAV2 provides a perspective showing buildings and adjacent green areas; UAV3 offers a view further emphasizing ground-level regions and distant targets beyond the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_045.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_045.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_045.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_030", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_351", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the pedestrian near the white concrete structure walking along the sidewalk in UAV1's aerial view?", "options": { "A": "The pedestrian now seen standing beside the white concrete structure in UAV2's perspective", "B": "The pedestrian seen crossing the road opposite the white concrete structure in UAV3's field of view", "C": "The pedestrian now waiting near the trees alongside the road visible in UAV2's aerial view", "D": "The pedestrian walking further away from the white concrete structure towards the buildings in UAV3's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a pedestrian walking near the white concrete structure along the sidewalk; UAV2's perspective shows the same pedestrian standing beside the white concrete structure.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_030.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_030.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_030.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_016", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_102", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting pedestrians and bicycles in urban areas?", "options": { "A": "Highly suitable due to clear visibility of ground-level regions", "B": "Moderately suitable with slight obstructions in critical areas", "C": "Low suitability as pedestrians and bicycles are not visible from the UAV perspective", "D": "Unsuitable due to the UAV's elevated angle obscuring ground objects entirely" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image shows a high-altitude view from UAV1 overlooking an urban environment with a helipad in the foreground and surrounding buildings in the background. Ground-level objects such as pedestrians and bicycles are not visible due to the high elevation and limited ground detail.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_016.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_016.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_016.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_298", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_294", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the black drone flying above the avenue near the high-rise buildings in UAV1's perspective?", "options": { "A": "The black drone now seen hovering closer to the rooftop of the beige building in UAV2's aerial view", "B": "The white drone seen flying over the large curved building in UAV3's perspective", "C": "The black drone now flying at a lower altitude near the street in UAV3's aerial view", "D": "A blue drone seen flying alongside another black drone toward the city center in UAV2's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a black drone flying above the avenue near the high-rise buildings. UAV2's perspective shows the same black drone hovering closer to the rooftop of the beige building. UAV3's perspective depicts a black drone and two distant drones flying in formation.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_298.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_298.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_298.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_067", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_488", "question_type": "Observing Posture", "question": "What is the relative position of the drone target object in the UAV's field of view?", "options": { "A": "Near the edge of the grass area on the left side", "B": "In the center of the grass area to the right", "C": "In the middle of the paved area towards the bottom", "D": "Near the building structure in the background" }, "correct_answer": "B", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 53.92874830824217, 'y': 23.676119822851533, 'width': 1.4232170010099392, 'height': 2.0680910482147654, 'rotation': 29.74488129694265, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 53.855206218637186, 'y': 23.347412547088386, 'width': 1.7872390352133944, 'height': 2.6350917349930354, 'rotation': 24.27444113443903, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene displays a sunny environment with a grass area containing trees and a paved plaza in the foreground. The target drone is located centrally within the grassy region on the right side of the UAV's view, surrounded by trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_067.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_067.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_067.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_020", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_441", "question_type": "Why to Collaborate", "question": "Why is collaboration necessary for UAV1 to improve perception in the scene?", "options": { "A": "To adjust for shadowed regions affecting visibility in UAV1's view", "B": "To compensate for blurry image quality caused by device malfunction only", "C": "To expand the coverage area of multiple UAVs in the field", "D": "To enhance color information across all UAV views" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1's image shows shadowed areas where visibility is reduced, making it difficult to perceive targets clearly. Other UAVs with better lighting and angles provide clearer and more detailed views. The annotation emphasizes issues like blur, brightness imbalance, and limited visibility requiring collaboration.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_020.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_020.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_020.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_020", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_106", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "1", "B": "5", "C": "3", "D": "4" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_020.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_020.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_020.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_090", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_262", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for vehicles and pedestrians in this image?", "options": { "A": "Overexposure caused by harsh sunlight", "B": "Partial occlusion by trees along the streets", "C": "Low resolution of the UAV camera", "D": "Motion blur caused by the UAV's movement" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a city intersection with tree-lined streets. The dense foliage from the trees occludes parts of the road and potential targets such as vehicles or pedestrians, making detection challenging.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_090.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_090.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_090.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_016", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_188", "question_type": "Usability Assessment", "question": "How usable is this image from UAV3 for tracking pedestrians and bicycles?", "options": { "A": "Highly usable as all targets are visible without occlusion", "B": "Moderately usable due to partial occlusion by trees", "C": "Low usability because shadows severely obscure targets", "D": "Not usable due to poor distinction between targets and background" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows pedestrians and bicycles visible but partially occluded by shadows and tree branches. The drone's vantage provides a clear top-down perspective, but usability is hindered by obstructions limiting reliable target tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_016.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_016.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_016.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_066", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_238", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "2", "B": "5", "C": "1", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_066.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_066.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_066.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_029", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_446", "question_type": "Object Grounding", "question": "From the UAV's perspective, where is the motorbike located relative to the white walkway in the plaza area?", "options": { "A": "The motorbike is on the far side of the plaza, beyond the white walkway", "B": "The motorbike is directly positioned on top of the white walkway", "C": "The motorbike is located to the left of the white walkway when facing the plaza", "D": "The motorbike is beside the green grass area near the edge of the walkway" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV image shows a plaza with a white walkway running diagonally. A motorbike is visible on the far side of the plaza beyond the walkway. A grassy area with trees is adjacent to the plaza.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_029.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_029.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_029.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_011", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_333", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking pedestrians, vehicles, and bicycles?", "options": { "A": "Highly usable, as targets are clearly visible with minimal occlusions", "B": "Moderately usable, with partial occlusions caused by trees and building shadows", "C": "Low usability due to significant occlusion and insufficient visual detail", "D": "Not usable as the scene lacks sufficient lighting and detail for detection" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows an urban environment with trees lining the road and a building casting shadows. The view includes an open plaza, some shadowed areas, and trees potentially occluding parts of the sidewalk, making pedestrian, vehicle, or bicycle detection partially hindered but still feasible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_011.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_011.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_011.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_082", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_502", "question_type": "Object Recognition", "question": "From this UAV's aerial view, which feature would make identifying a pedestrian most challenging in this scene?", "options": { "A": "The presence of shadows created by nearby structures", "B": "The UAV\u2019s altitude obscures the pedestrian\u2019s details", "C": "Pedestrians blending into the grassy area due to clothing color", "D": "The UAV camera's inability to capture depth from an overhead angle" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV's perspective captures a landscaped area with grassy fields, trees, and paved walkways, where pedestrians might blend into their surroundings due to clothing colors matching natural elements.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_082.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_082.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_082.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_017", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_336", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the pavilion located relative to the building and surrounding trees?", "options": { "A": "The pavilion is positioned in front of the building near the road and surrounded by trees on both sides.", "B": "The pavilion is located to the left of the building, surrounded by trees and positioned near the road.", "C": "The pavilion is directly in front of the building in an open plaza, with trees lining the road to the far side.", "D": "The pavilion is behind the building, situated in a densely forested area." }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures the pavilion positioned directly in front of a tall building within an open paved plaza, while trees line the road running parallel to the plaza.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_017.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_017.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_017.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_060", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_231", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the small quadcopter flying near the corner tree in UAV1's perspective?", "options": { "A": "The quadcopter seen hovering directly above a zebra crossing in UAV3's aerial view", "B": "The drone obscured by tree foliage near the sidewalk in UAV2's perspective", "C": "The small quadcopter now visible in the middle of the road in UAV3's field of view", "D": "The quadcopter flying above the opposite tree-lined street in UAV2's aerial view" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV1's aerial view shows a small quadcopter flying near the corner tree. UAV2's perspective captures the same quadcopter partially obscured by tree foliage near the sidewalk, while UAV3's aerial view displays the drone hovering directly above the zebra crossing.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_060.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_060.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_060.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_071", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_156", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective shown in the image, which target is least likely to be identified near the helipad despite the urban environment?", "options": { "A": "A pedestrian walking on the rooftop", "B": "A small drone on the helipad", "C": "A vehicle parked near the helipad", "D": "A person walking in the distant park area" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an aerial view of a helipad atop a tall building surrounded by a dense urban area, highlighting aspects such as small drones on the helipad and distant pedestrians in park spaces.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_071.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_071.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_071.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_027", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_199", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV2", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_027.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_027.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_027.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_004", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_174", "question_type": "Object Recognition", "question": "From the aerial perspective of UAV3, what object is partially obscured by foliage in the top right corner of the scene?", "options": { "A": "A parked delivery van", "B": "A black surveillance drone", "C": "A pedestrian sitting on a bench", "D": "A small bicycle rack" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a crossroads area with crosswalks, pavement, and foliage partially obscuring a black surveillance drone in the top right corner of the image.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_004.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_004.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_004.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_020", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_532", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "1", "B": "4", "C": "3", "D": "5" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_020.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_020.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_020.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_078", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_250", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for pedestrians and bicycles in this scene from UAV2?", "options": { "A": "Partial occlusion by trees", "B": "Overexposure due to bright sunlight", "C": "Low-resolution image quality from the UAV camera", "D": "Blur resulting from movement in the scene" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV2 image displays a walkway partially covered by dense trees, which block clear visibility of pedestrians and bicycles.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_078.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_078.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_078.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_092", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_603", "question_type": "Object Matching", "question": "The drone hovering near the shadow of the curved building in UAV1's perspective corresponds to which target in another UAV's aerial view?", "options": { "A": "The drone now seen closer to the rectangular building near the row of trees in UAV2's aerial view", "B": "The drone now hovering directly next to a different curved building in UAV3's perspective", "C": "The drone spotted flying over the road in front of multiple rectangular buildings in UAV3's perspective", "D": "The drone seen stationary near the entrance of the blue glass building in UAV2's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a drone hovering near the shadow of a curved building. UAV2's perspective displays the same drone closer to the rectangular building near a row of trees, providing a distinct positional shift.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_092.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_092.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_092.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_037", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_549", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "5", "B": "2", "C": "4", "D": "3" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_037.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_037.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_037.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_070", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_156", "question_type": "Why to Collaborate", "question": "What is the main reason UAV2 should collaborate with other UAVs based on the image and annotation provided?", "options": { "A": "To gain better visibility of the target drone by combining perspectives from other UAVs", "B": "To adjust for environmental factors like lighting that affect UAV2's view", "C": "To extend the field of view coverage beyond UAV2's current location", "D": "To synchronize flight operations and time stamps between UAVs" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV2 displays a wide view of the helipad and surrounding cityscape, but the target drone appears small and distant. Other UAV perspectives provide closer views where the target is larger and clearer. Annotation indicates the target's visibility limitation in UAV2's view but improvement in other UAVs' images.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_070.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_070.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_070.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_071", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_71", "question_type": "Causal Assessment", "question": "What is the primary cause affecting the visibility of pedestrians and bicycles in this image?", "options": { "A": "Motion blur caused by UAV movement", "B": "Occlusion by dense tree foliage", "C": "Underexposure due to lack of sunlight", "D": "Low contrast due to poor sensor quality" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image from UAV2 shows dense tree foliage obstructing large parts of the sidewalk and road, making it difficult to detect pedestrians and bicycles clearly.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_071.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_071.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_071.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_021", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_343", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking vehicles and bicycles on the road?", "options": { "A": "Highly usable, with clear road visibility and minimal occlusions", "B": "Moderately usable, as tree shadows may cause partial occlusions", "C": "Low usability due to significant obstruction from trees and poor contrast", "D": "Not usable, as the scene lacks adequate detail for detection" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a road lined with trees, casting shadows that partially cover the road. The visibility of vehicles and bicycles may be affected by these shadows and the presence of foliage, while the scene overall remains clear with good lighting.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_021.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_021.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_021.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_072", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_394", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "5", "B": "3", "C": "4", "D": "1" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_072.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_072.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_072.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_082", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_403", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the spatial relationship of the pavilion-like structure relative to the nearby trees?", "options": { "A": "The pavilion is positioned behind the row of trees closest to the road", "B": "The pavilion is located directly beside the trees near the roadside", "C": "The pavilion is further away from the roadside compared to the trees", "D": "The pavilion is positioned directly between the trees and the road" }, "correct_answer": "C", "annotation_info": "", "image_description": "A UAV image captures a pavilion-like structure positioned in an open plaza, with a row of trees aligning next to the roadside.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_082.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_082.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_082.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_038", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_550", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_038.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_038.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_038.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_023", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_535", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "3", "B": "1", "C": "2", "D": "0" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_023.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_023.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_023.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_038", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_38", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone near the crosswalk at the center of the image that requires clarification on its position and movement trajectory.", "B": "Drone partially occluded by the trees in the upper-left corner of the image, requiring more precise elevation and location data.", "C": "Drone in the shadow of the central trees, whose visibility issues need to be resolved for better detection accuracy.", "D": "Drone near the cyclist at the left side of the image requiring identification to avoid confusion with other moving objects." }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 captures a drone in the marked region at the center of the image near the crosswalk, surrounded by shadows and trees, requiring specific position and trajectory information for better visibility and tracking. Other UAVs may have trouble detecting the drone due to partial occlusion and lighting.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_038.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_038.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_038.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_042", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_462", "question_type": "Object Recognition", "question": "From the UAV perspective shown, what challenge may arise when identifying pedestrians in this scene?", "options": { "A": "Pedestrians blending with the uniform green vegetation", "B": "Pedestrians obscured by the metal structure casting shadows", "C": "Pedestrians crossing the road at an intersection nearby", "D": "No pedestrians are present in this scene" }, "correct_answer": "D", "annotation_info": "", "image_description": "The UAV captures a landscaped area with trees, grass, wooden structures, and shadows cast by metal frames, but no pedestrians are visible from this aerial view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_042.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_042.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_042.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_015", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_335", "question_type": "Object Matching", "question": "Which drone in another UAV's aerial view corresponds to the drone hovering over the canopy structure in UAV3's perspective?", "options": { "A": "The drone now hovering near the trees adjacent to the road in UAV2\u2019s aerial view", "B": "The drone seen flying behind the canopy structure, partially occluded by the building in UAV1\u2019s perspective", "C": "The drone now flying over the grassy area near intersecting roads in UAV2\u2019s perspective", "D": "The drone seen landing on the canopy structure, clearly visible from UAV1\u2019s aerial view" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3's aerial view shows a drone hovering directly above the canopy structure; UAV1's perspective shows the same drone flying behind the canopy structure, partially occluded by the adjacent building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_083", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_169", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drone in the marked region on the helipad?", "options": { "A": "Drone near the center of the helipad with low contrast against the green surface requiring visibility enhancement", "B": "Drone hovering above the helipad with potential interference from nearby building reflections that need correction", "C": "Drone moving in a circular pattern near the upper-right of the helipad needing trajectory prediction", "D": "Drone partially obscured by the structure railing near the edges requiring structural obstacle mapping" }, "correct_answer": "A", "annotation_info": "", "image_description": "The marked region shows a drone hovering near the center of the helipad in clear view, but with low visibility due to the similarity in color between the drone and the green helipad surface.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_083.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_083.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_083.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_015", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_337", "question_type": "Usability Assessment", "question": "How usable is this image for detecting pedestrians and bicycles based on visibility and occlusion factors?", "options": { "A": "Highly usable as the sidewalks and open areas are clearly visible", "B": "Moderately usable due to limited visibility near the edges of trees", "C": "Low usability as pedestrian and bicycle pathways are largely obscured by shadows", "D": "Not usable due to severe occlusions and indistinguishable features in the scene" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a top-down view of an urban environment from UAV3, with tree canopies partially occluding sidewalks and open spaces. The road is wide and unobstructed, but the shadows and the tree canopies limit clarity for detecting pedestrians and bicycles in certain areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_015", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_335", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what is the most likely location where a surveillance drone could be detected in this scene?", "options": { "A": "Hovering near the building fa\u00e7ade", "B": "Stationed beneath the canopy structure", "C": "Flying above the tree-lined road", "D": "Resting on the rooftop of the building" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a wide scene with a tall building, a canopy structure, tree-lined road, and an open plaza. The aerial view highlights potential vantage points where a drone might operate or be detected.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_090", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_509", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the drone hovering above the grassy area and partially overshadowed by trees in UAV3's view?", "options": { "A": "The drone seen at the edge of the shadow hovering directly above the pathway in UAV2's perspective", "B": "The drone located near the purple flowers in UAV1's view, no longer overshadowed by trees", "C": "The drone seen obscured by the larger trees on the far left of UAV1's view", "D": "The drone entirely stationary beside the building in UAV2's aerial perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a drone hovering above a grassy area, partially overshadowed by nearby trees. UAV2 provides a clearer view of the drone closer to the pathway, emerging from the shadow.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_090.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_090.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_090.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_019", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_105", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for pedestrians and bicycles in this image from UAV3?", "options": { "A": "High altitude viewpoint causing distant targets to appear too small", "B": "Occlusion by nearby buildings and structures", "C": "Overexposure due to strong sunlight reflection on surfaces", "D": "Motion blur caused by rapid UAV movement" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image from UAV3 shows a highly elevated viewpoint overlooking a cityscape. Pedestrians and bicycles appear very small due to the high altitude and are difficult to detect among the detailed structural elements visible in the scene. No significant occlusion or blur is visible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_019.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_019.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_019.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_097", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_609", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "3", "B": "4", "C": "2", "D": "1" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_097.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_097.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_097.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_041", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_361", "question_type": "Object Matching", "question": "The pedestrian standing under the white pavilion near the tall glass building in UAV3's aerial view corresponds to which target in another UAV's perspective?", "options": { "A": "The pedestrian now seated under the same pavilion, as seen closer in UAV2's aerial perspective", "B": "The pedestrian standing under the pavilion, now partially obscured by trees in UAV2's perspective", "C": "The pedestrian walking away from the pavilion and heading towards the crosswalk in UAV1's aerial perspective", "D": "The pedestrian waiting near the traffic light across the street in UAV2's aerial view" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3's aerial view shows a pedestrian standing under a white pavilion near a tall glass building. In UAV2\u2019s perspective, the pedestrian is still under the pavilion but partially obscured by nearby trees. This provides context for multi-view target identification and tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_041.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_041.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_041.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_085", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_407", "question_type": "Scene Description", "question": "What is the most likely primary monitoring priority for the UAV in this scene?", "options": { "A": "Tracking the movement of a drone around the structure", "B": "Monitoring the traffic flow on the adjacent road", "C": "Observing the pedestrian activity on the sidewalks", "D": "Identifying bicycles traveling near the intersection" }, "correct_answer": "A", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 58.837209302325576, 'y': 51.95521102497847, 'width': 1.6279069767441854, 'height': 2.342807924203271, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene shows an urban environment with a focus on a road lined with trees and surrounded by buildings. There is no visible active pedestrian or bicycle activity.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_085.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_085.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_085.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_011", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_432", "question_type": "Scene Comparison", "question": "What is the most likely spatial relationship between the UAV's monitoring focus and the trees in the scene?", "options": { "A": "The UAV is focused on a pedestrian moving through the trees.", "B": "The UAV is monitoring a drone hovering above the trees.", "C": "The UAV is observing an object transitioning from the grassy area to the architectural structure.", "D": "The UAV is analyzing vehicle patterns near the trees." }, "correct_answer": "C", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 77.27807587305568, 'y': 7.888444291541433, 'width': 1.0831103517343177, 'height': 1.4715467814429912, 'rotation': 31.949971446334303, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 77.1109088771467, 'y': 7.975234182794838, 'width': 1.1627614570923681, 'height': 1.350164743260065, 'rotation': 27.867003849659, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1\uff0cUAV2; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The scene captured by UAV3 shows a grassy area with trees on the left side and a geometrically complex architectural structure on the right. A white pathway connects these regions.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_011.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_011.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_011.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_015", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_434", "question_type": "Object Matching", "question": "The black motorcycle seen on the grass near the center of the UAV3 perspective corresponds to which target in another UAV's observation?", "options": { "A": "The black motorcycle now seen closer to a shadowed area near the edge of the UAV2 field of view", "B": "The black motorcycle now parked along a pathway near the base of a tree in UAV1's perspective", "C": "The bicycle seen leaning against a tree in the center of UAV2's aerial observation", "D": "The green scooter now moving along the tiled area in UAV1's view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a black motorcycle on grass near the center; UAV2's perspective shows the same motorcycle closer to a shadowed area near the edge of its field of view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_073", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_245", "question_type": "Why to Collaborate", "question": "Why is it important for UAV3 to collaborate with other UAVs in this scenario?", "options": { "A": "To compensate for limited visibility caused by tree occlusion visible in UAV3's feed", "B": "To detect traffic signals with higher accuracy", "C": "To expand the collective field of view of all UAVs", "D": "To synchronize drone positioning across different views" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV3's image suffers from limited visibility due to occlusion by trees in certain regions, making it difficult to identify details of objects like pedestrians or drones. Other UAVs capture complementary perspectives of the same area with better visibility, improving the scene\u2019s overall information quality. The annotation indicates specific areas impacted at positions (40.2%, 60.3%) with size 7.1%x8.5% and notes that the other UAV's image is of better quality.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_073.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_073.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_073.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_078", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_499", "question_type": "Why to Collaborate", "question": "Why should UAV1 collaborate with other UAVs based on the provided images and annotation?", "options": { "A": "To compensate for the shadow preventing clear detection of the target", "B": "To increase the altitude of the UAV for a better view", "C": "To enhance the resolution of the image through joint data processing", "D": "To synchronize flight patterns for uniform data collection" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "UAV1 captures an image where part of the green area and its target are under shadow, making detection difficult. Other UAV perspectives have proper lighting, ensuring better visibility of the target as noted in the annotation.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_078.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_078.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_078.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_016", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_337", "question_type": "Object Matching", "question": "In the UAV1 aerial view, which target in another UAV perspective corresponds to the pedestrian walking parallel to the road near the trees?", "options": { "A": "The pedestrian now standing on the sidewalk near the concrete canopy in UAV2's perspective", "B": "The pedestrian crossing the street at the crosswalk in UAV3's aerial view", "C": "The pedestrian moving in the opposite direction on the far side of the road in UAV2's perspective", "D": "The pedestrian sitting on a bench near the building in UAV3's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a pedestrian walking parallel to the road near the trees; UAV2's perspective shows the same pedestrian standing on the sidewalk near the concrete canopy.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_016.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_016.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_016.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_032", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_204", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "0", "B": "1", "C": "5", "D": "2" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_032.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_032.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_032.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_042", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_363", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which target is most likely present near the central structure with a roof?", "options": { "A": "A surveillance drone hovering beside the roofed structure", "B": "A group of pedestrians standing near the trees", "C": "A parked vehicle near the edge of the road", "D": "A stationary traffic sign beside the building entrance" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV presents a view of a modern urban area featuring a roofed structure near large buildings, with shadows and greenery visible. Targets like drones, pedestrians, and vehicles are potential objects to identify.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_042.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_042.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_042.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_004", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_4", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the cyclist partially occluded by trees in UAV2's aerial view?", "options": { "A": "The cyclist now fully visible, approaching the crosswalk in UAV3's perspective", "B": "The cyclist seen riding away from the crosswalk in UAV1's aerial view", "C": "The cyclist walking beside their bike in UAV3's aerial view", "D": "The cyclist stationary near a park bench in UAV3's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "In UAV2's aerial view, a cyclist is partially occluded by trees on the sidewalk. In UAV3's perspective, the same cyclist is fully visible and moving toward the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_004.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_004.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_004.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_013", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_185", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone partially obscured by trees near the right edge requiring clearer position data for tracking", "B": "Drone under shadows on the sidewalk near the upper-right corner needing lighting compensation", "C": "Drone flying close to the traffic light in the central intersection requiring trajectory clarification", "D": "Drone hovering near the building entrance behind foliage requiring background isolation" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region near the right edge under partial obstruction from tree branches, making it difficult to track position and movement.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_013.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_013.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_013.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_027", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_199", "question_type": "Scene Comparison", "question": "What difference in target type detection is evident between the UAV1, UAV2, and UAV3 perspectives?", "options": { "A": "UAV1 detects only traffic lights, UAV2 detects only pedestrians, and UAV3 detects only drones", "B": "UAV1 detects both traffic lights and drones, UAV2 detects trees and sidewalks, and UAV3 detects traffic lights and drones comprehensively", "C": "UAV1 focuses on crosswalks and traffic lights, UAV2 highlights trees and pedestrian sidewalks, and UAV3 captures drones and open road areas", "D": "UAV1, UAV2, and UAV3 detect the exact same set of targets with no variance in detection type" }, "correct_answer": "C", "annotation_info": "Perception issues: Occluded, Too small; Perception degradation: Object occlusion, Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 47.82945736434108, 'y': 31.421188630490953, 'width': 1.937984496124038, 'height': 3.0318690783807156, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 60.15503875968993, 'y': 33.76399655469423, 'width': 1.8604651162790589, 'height': 3.3074935400516736, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 provides a wide perspective of traffic lights and crosswalks; UAV2 focuses on areas under tree canopies and sidewalks; UAV3 offers an overhead view detecting drones and general open areas like intersections.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_027.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_027.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_027.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_049", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_49", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting bicycles and vehicles using multi-UAV views?", "options": { "A": "Highly suitable due to clear visibility of targets and minimal obstructions", "B": "Moderately suitable due to partial occlusion from trees", "C": "Low suitability as targets are heavily obscured by environmental features", "D": "Unsuitable as no targets are visible in the scene" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image captures a street scene with partial occlusion of bicycles and vehicles caused by trees, making it moderately suitable for target detection using multi-UAV views.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_049.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_049.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_049.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_086", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_408", "question_type": "Scene Comparison", "question": "Which UAV perspective offers the least occlusion of the structure's surrounding area?", "options": { "A": "UAV1 provides the least occluded view of the surrounding trees", "B": "UAV2 minimizes occlusion of the area behind the target structure", "C": "UAV3 provides the least occlusion of both the structure and the adjacent road", "D": "All UAVs provide equally occluded perspectives of the target structure" }, "correct_answer": "C", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 58.21705426356589, 'y': 51.817398794142974, 'width': 1.3953488372092977, 'height': 1.6537467700258475, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 (image 1) captures the structure and trees with partial obstruction by shadows and angles; UAV2 provides a side view that slightly more occludes the area behind the target; UAV3 gives an overhead view, ensuring minimal occlusion for both the structure and adjacent elements like roads and trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_010", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_428", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how is the group of yellow trees positioned relative to the white pathway and the building structure?", "options": { "A": "The yellow trees are located directly adjacent to the pathway leading toward the building structure", "B": "The yellow trees are on a grassy area opposite the pathway to the building structure", "C": "The yellow trees are positioned along the edge of the pathway far from the building structure", "D": "The yellow trees are located behind the building structure, hidden from UAV view" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view showing a grassy area with yellow and green trees adjacent to a white pathway that leads to a geometric building structure.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_010.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_010.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_010.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_011", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_331", "question_type": "Object Recognition", "question": "From the UAV\u2019s aerial perspective, what target is most challenging to detect in this image due to its size and shadow coverage?", "options": { "A": "A pedestrian near the base of the building", "B": "A small surveillance drone hovering above the trees", "C": "A vehicle parked along the road", "D": "A cyclist traveling on the sidewalk" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an urban environment with a large building, trees creating shadows, and a sidewalk next to a multi-lane road. A small object near the base of the building could potentially be a pedestrian but is harder to distinguish due to scale and shadow coverage.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_011.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_011.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_011.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_044", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_129", "question_type": "Object Grounding", "question": "From the UAV's perspective, which feature most accurately describes the spatial position of the drone located on the helipad?", "options": { "A": "The drone is positioned at the center of the helipad, enclosed by a circular boundary", "B": "The drone is at the outer edge of the helipad, near the safety railing", "C": "The drone is hovering above the helipad at an elevated height", "D": "The drone is positioned in the green area outside the marked helipad boundary" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an aerial view of a helipad on a high-rise rooftop with a small drone positioned precisely at the center of the helipad's circular boundary. Surrounding the helipad, there are tall buildings and urban structures.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_044.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_044.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_044.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_076", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_161", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the helipad positioned relative to the skyscraper roof structure?", "options": { "A": "The helipad is located on the center of the skyscraper's roof structure", "B": "The helipad is positioned to the edge of the western side of the roof structure", "C": "The helipad is mounted on an elevated platform above the roof's central framework", "D": "The helipad is aligned along the eastern boundary of the roof structure" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a skyscraper roof with a green helipad clearly centered within the rooftop's symmetrical framework, surrounded by glass structures and beams, in an urban cityscape setting.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_076.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_076.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_076.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_083", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_503", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the black drone hovering near the dense trees in UAV1's perspective?", "options": { "A": "The black drone now seen hovering above the open grass area in UAV2's perspective", "B": "The white drone now flying above the pedestrian walkway in UAV3's perspective", "C": "The black drone now landed near the purple tree in UAV2's aerial view", "D": "The gray drone now flying over the metal structure in UAV3's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 provides an aerial view of a black drone hovering near dense trees in the shaded area; UAV2's perspective shows the same black drone above the open grass area beyond the trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_083.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_083.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_083.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_044", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_366", "question_type": "Why to Collaborate", "question": "Why should UAV3 collaborate with other UAVs based on the image shown?", "options": { "A": "To address the issue of poor lighting and shadows impacting target visibility", "B": "To avoid missing drone details due to its limited processing capabilities", "C": "To reduce overall computational complexity among the UAVs", "D": "To improve location accuracy of detected objects relative to physical surroundings" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image captured by UAV3 shows a target under shadow, making it difficult to perceive. Other UAV perspectives provide better lighting conditions and clarity for the same target. Annotation confirms issues such as lighting imbalance and shadow interference affecting UAV3's view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_044.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_044.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_044.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_562", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_318", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone with reflective surface flying above the center road, causing glare in sunlight that requires glare reduction", "B": "Drone moving at high speed near the edge of the curved skyscraper on the left side that needs trajectory analysis", "C": "Drone occluded by architectural shadows near the large circular building in the bottom-right corner that requires visibility enhancement", "D": "Drone flying close to the building on the right edge with geometric patterns that requires position refinement" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region near position (31.9%, 48.4%) with size 5.9%x3.3%, where it is moving at high speed near the edge of the curved skyscraper, requiring additional tracking and trajectory analysis.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_562.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_562.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_562.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_060", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_380", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the large white canopy structure in front of the building visible from the UAV3 perspective?", "options": { "A": "The large white canopy structure now seen from an angle, surrounded by trees in UAV1's aerial view.", "B": "The pedestrian standing near the canopy structure from a closer perspective in UAV2's aerial view.", "C": "The white canopy structure now seen from the side, located near the clustered buildings in UAV2's aerial view.", "D": "The gray canopy structure now hidden behind parked vehicles near another building in UAV1's aerial view." }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV3 perspective shows a large white canopy structure situated directly in front of a tall building with reflective windows. UAV2's perspective captures the same structure from the side angle, emphasizing its proximity to the clustered buildings and trees visible nearby.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_060.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_060.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_060.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_029", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_201", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drones in the marked regions of its view?", "options": { "A": "Drone partially occluded by foliage near the tree in the lower-right corner that needs position verification", "B": "Drone near the crosswalk in the center of the image that requires trajectory analysis due to high-speed movement", "C": "Drone hovering close to the pedestrian path under shadows near the upper-right area, requiring lighting clarification", "D": "Drone near traffic lights at the intersection below the large building that needs obstacle mapping" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 captures drones in two marked regions, one near foliage in the lower-right corner partially occluded by the tree, and another close to the crosswalk in the center. These regions need detailed position and movement analysis for collaborative tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_029.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_029.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_029.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_084", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_596", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "4", "B": "3", "C": "1", "D": "0" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_562", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_318", "question_type": "Why to Collaborate", "question": "Why is collaboration necessary for UAV3 given the current image and annotations?", "options": { "A": "To compensate for blur and color distortion issues with information from other UAVs", "B": "To reduce the computational load of image enhancement tasks for UAV3", "C": "To synchronize flight patterns between UAVs for improved coordination", "D": "To ensure better coverage of airspace beyond the limited field of view" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV3 shows an image affected by blur, brightness imbalance, color distortion, and possible device malfunction. Other UAV perspectives provide unaffected and high-quality images that can augment UAV3's output for reliable analysis.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_562.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_562.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_562.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_056", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_142", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "2", "B": "1", "C": "3", "D": "0" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_056.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_056.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_056.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_036", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_548", "question_type": "Causal Assessment", "question": "What is the primary cause affecting bicycle detection quality in this image?", "options": { "A": "Blur caused by drone camera movement", "B": "Occlusion by nearby trees and shadows", "C": "Low resolution due to distant camera positioning", "D": "Lighting reflections from building surfaces" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image from UAV2 shows trees casting shadows that partially occlude objects on the ground, including bicycles. The lack of direct visibility and interference caused by the overlapping shadows is the primary factor affecting detection quality.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_036.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_036.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_036.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_031", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_353", "question_type": "Observing Posture", "question": "What is UAV3's primary monitoring focus in this urban environment?", "options": { "A": "Tracking nearby drone movements near the buildings", "B": "Analyzing pedestrian patterns under the shaded area near the structure", "C": "Monitoring tree locations for environmental mapping", "D": "Assessing vehicle flow along the road for traffic analysis" }, "correct_answer": "A", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 51.93798449612403, 'y': 48.23428079242033, 'width': 0.8527131782945787, 'height': 1.7915590008613265, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image shows a road with multiple lanes bordered by trees, adjacent to an urban structure and a shaded area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_031.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_031.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_031.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_066", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_237", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective of this image, what is the most likely reason pedestrians at this intersection could be challenging to detect?", "options": { "A": "Pedestrians are obscured by the shadows of nearby trees.", "B": "The high resolution of the camera makes pedestrians indistinct.", "C": "The crosswalk patterns cause confusion in detecting pedestrians.", "D": "Pedestrians are not present in this scene." }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an urban intersection with crosswalks, surrounded by trees casting shadows that obscure the view of pedestrian areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_066.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_066.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_066.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_069", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_69", "question_type": "Why to Collaborate", "question": "Why should UAV1 collaborate with other UAVs in this scene?", "options": { "A": "To compensate for poor lighting conditions affecting visibility", "B": "To overcome the limited visibility of the target due to size and distance", "C": "To synchronize flight paths for efficient coverage", "D": "To reduce image noise created by environmental factors" }, "correct_answer": "B", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV1's perspective shows a distant, small target partially obscured by surrounding objects (e.g., trees). Other UAVs provide closer and clearer views of the target. The annotation highlights visibility challenges requiring collaboration to improve detection and tracking of the object.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_069.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_069.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_069.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_067", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_579", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "3", "B": "0", "C": "1", "D": "2" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_067.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_067.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_067.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_084", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_504", "question_type": "Object Matching", "question": "A pedestrian seen near the edge of the grassy area, partially shadowed by trees, is visible in UAV1's aerial view. How is this pedestrian represented in another UAV\u2019s perspective?", "options": { "A": "The pedestrian now seen walking on the pathway, moving towards the architecture in UAV2's perspective", "B": "The pedestrian now seen sitting on a bench under the shadow of a tree in UAV3\u2019s view", "C": "The same pedestrian now seen standing fully in the sunlight alongside the grassy area in UAV2\u2019s aerial view without tree shadows", "D": "The pedestrian now disappeared from view, completely occluded by the trees in UAV3\u2019s perspective" }, "correct_answer": "C", "annotation_info": "", "image_description": "UAV1's aerial view captures a pedestrian standing near the edge of a grassy area under partial tree shadow. UAV2\u2019s perspective shows the same pedestrian more clearly, now standing under full sunlight near the grassy area without tree shadows. Other ambiguities arise in UAV3 due to occlusions.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_001_frame_078", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_78", "question_type": "Scene Description", "question": "Based on the scene captured by UAV2, what is the most prominent target object visible?", "options": { "A": "A drone on the walkway near the trees", "B": "Vehicles moving on the road", "C": "Pedestrians walking along the sidewalk", "D": "A bicycle crossing the intersection" }, "correct_answer": "A", "annotation_info": "Perception issues: Too small; Perception degradation: Under shadow, Small target / Long distance; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 52.92766934557977, 'y': 20.410766679423396, 'width': 2.7554535017221355, 'height': 1.836969001148102, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 52.92766934557979, 'y': 20.00255134583493, 'width': 2.525832376578632, 'height': 2.2451843347365776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The scene shows a straight road surrounded by trees, with a drone visible on the walkway on the right side of the scene. No vehicles, pedestrians, or bicycles are present in the captured view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_078.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_078.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_078.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_068", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_68", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "5", "B": "2", "C": "1", "D": "0" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_068.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_068.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_068.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_016", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_187", "question_type": "Object Recognition", "question": "What type of small aerial target is partially visible near the pedestrian pathway in this UAV perspective?", "options": { "A": "A bird flying just above the trees", "B": "A compact surveillance drone on the ground", "C": "A pedestrian operating a remote-controlled device", "D": "A stationary vehicle parked off-road" }, "correct_answer": "B", "annotation_info": "", "image_description": "An aerial view from UAV2 showing a tree-covered pedestrian pathway, where a small surveillance drone is partially visible on the ground near the trees. No vehicles or pedestrians are prominent in the scene.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_016.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_016.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_016.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_068", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_579", "question_type": "Object Matching", "question": "The drone hovering near the curved building in UAV2's perspective corresponds to which target in another UAV's aerial view?", "options": { "A": "The drone now seen near the blue glass building, closer to the trees in UAV3's aerial view.", "B": "The drone seen moving toward the street in UAV1's aerial perspective.", "C": "The drone seen positioned in the middle of the square, closer to the blue buildings in UAV3's perspective.", "D": "The drone seen near the edge of the curved building, hovering closer to the trees in UAV1's field of view." }, "correct_answer": "D", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone hovering close to the curved building; UAV1's perspective shows the same drone near the curved building edge and closer to trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_068.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_068.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_068.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_022", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_22", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the stationary drone hovering above the crosswalk in UAV1's perspective?", "options": { "A": "The drone now hovering between two trees, partially obscured, in UAV2's aerial view", "B": "The drone now flying above the central median of the road in UAV3's aerial view", "C": "The drone seen landing near a sidewalk in UAV3's perspective", "D": "The pedestrian walking towards the crosswalk in UAV2's aerial view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a stationary drone hovering above the crosswalk. UAV2's perspective shows the same drone hovering between two trees, partially obscured.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_022.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_022.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_022.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_080", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_500", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the small black drone hovering near the wooden structure in UAV2's perspective?", "options": { "A": "The black drone now seen closer to the group of yellow-leaved trees in UAV3's aerial perspective", "B": "The black drone now seen on the grassy field near the center of UAV1's view", "C": "The small bird flying around the green bushes in UAV3's aerial perspective", "D": "The black drone now seen fully occluded by the wooden structure in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "The images show a black drone hovering near a wooden structure from UAV2's perspective and later repositioned closer to a group of yellow-leaved trees visible in a different UAV view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_080.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_080.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_080.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_082", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_404", "question_type": "Scene Comparison", "question": "What spatial relationship between target objects is most notable in the UAV's current perspective?", "options": { "A": "The road is lined with trees symmetrically along both sides, but no vehicles are visible.", "B": "A pedestrian is walking near the building while vehicles are parked by the trees.", "C": "Multiple bicycles are parked under the concrete structure adjacent to the building.", "D": "A drone is hovering above the building, monitoring movement on the road." }, "correct_answer": "A", "annotation_info": "Perception degradation: Out of FoV; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The scene depicts a road bordered symmetrically by trees, with an adjacent pedestrian area featuring a concrete structure. A large building is visible, but no moving or stationary vehicles, pedestrians, bicycles, or drones are present in this view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_082.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_082.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_082.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_038", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_38", "question_type": "Causal Assessment", "question": "What is the primary factor affecting the detection of vehicles, pedestrians, and bicycles in this image?", "options": { "A": "Severe motion blur caused by UAV movement", "B": "Partial occlusion by dense tree foliage", "C": "Low contrast due to dim lighting conditions", "D": "High noise from camera sensor malfunctions" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a straight road with sidewalks, but visibility of potential targets like vehicles, pedestrians, or bicycles is severely reduced due to significant occlusion caused by the dense foliage of trees covering the majority of the field of view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_038.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_038.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_038.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_031", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_201", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the second drone positioned relative to the tree at the corner of the crosswalk?", "options": { "A": "The second drone is hovering directly above the tree canopy", "B": "The second drone is positioned on the sidewalk near the tree", "C": "The second drone is hovering in the open area away from the tree", "D": "The second drone is at the crosswalk directly beneath the tree" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV\u2019s aerial view shows two drones in the environment: one in an open area and the second near the corner tree at the sidewalk adjacent to the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_031.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_031.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_031.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_007", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_93", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the pedestrian seen near the helipad perimeter in UAV1's aerial view?", "options": { "A": "The pedestrian now walking near the open grassy area in UAV3's perspective", "B": "The pedestrian now standing at the edge of the rooftop in UAV2's field of view", "C": "The pedestrian now seen walking towards the main building entrance in UAV3's aerial view", "D": "The pedestrian now sitting on a nearby bench in UAV1's perspective" }, "correct_answer": "B", "annotation_info": "", "image_description": "In UAV1's aerial view, a pedestrian is visible near the helipad perimeter; UAV2's perspective shows the same pedestrian standing at the edge of the rooftop, offering a different vantage point.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_007.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_007.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_007.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_003", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_3", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection quality for pedestrians and bicycles in this UAV2 image?", "options": { "A": "Overexposure due to direct sunlight", "B": "Occlusion by dense tree foliage", "C": "Blur from camera motion", "D": "Sensor failure causing image loss" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image from UAV2 shows a road surrounded by tall trees with dense foliage that occlude visibility of the sidewalk and any potential pedestrians or bicycles in the scene.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_082", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_254", "question_type": "Why to Collaborate", "question": "What is the main reason UAV1 should collaborate with other UAVs to enhance perception in this scenario?", "options": { "A": "To obtain a clearer view of the target that appears too small or distant in UAV1's image", "B": "To adjust for UAV1\u2019s limited sensor range for detecting traffic lights", "C": "To provide redundancy in detecting obstacles across perspectives", "D": "To reduce brightness imbalance across UAV views" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 captures a wide urban intersection where specific elements appear small and distant; other UAVs provide closer views and compensate for UAV1's limited visibility. Annotation indicates improved target clarity in other UAV perspectives, addressing gaps in UAV1's current image quality.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_082.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_082.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_082.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_001", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_1", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking vehicles and pedestrians?", "options": { "A": "Highly usable as all targets are clearly visible and unobstructed", "B": "Moderately usable due to partial occlusion caused by trees", "C": "Low usability as the majority of the road and sidewalks are obstructed", "D": "Not usable due to complete occlusion of target areas" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image shows a road and adjacent sidewalks heavily obscured by dense foliage from trees. Most of the scene critical for detecting vehicles and pedestrians is obstructed, impairing visibility and usability for detection and tracking tasks.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_001.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_001.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_001.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_021", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_442", "question_type": "Observing Posture", "question": "What should be the UAV's primary monitoring priority in this scene?", "options": { "A": "Tracking the movement of the drone visible among the trees", "B": "Monitoring the shadow patterns for structural analysis", "C": "Observing pedestrian activity in the open area", "D": "Detecting vehicles parked near the forested region" }, "correct_answer": "A", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow, Others\uff08Please fill in below\uff09; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 70.95292766934558, 'y': 34.698303355019775, 'width': 2.181400688863377, 'height': 2.4492920015308, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 28.128587830080363, 'y': 31.8407960199005, 'width': 1.492537313432841, 'height': 1.836969001148109, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 70.60849598163031, 'y': 34.49419568822554, 'width': 2.755453501722158, 'height': 3.2657226687077454, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2\uff0cUAV3; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image depicts an open area with a tiled plaza in the foreground, a forested region with trees in the background, and shadow patterns covering part of the scene. A drone is visible among the trees, making it a potential priority for UAV monitoring.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_021.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_021.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_021.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_052", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_223", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the drone hovering partially obscured by the tree in UAV2's aerial view?", "options": { "A": "The same drone now fully visible and hovering above the crosswalk in UAV3's perspective", "B": "The drone flying over the intersection in UAV1's aerial view", "C": "The drone landing near the traffic lights in UAV3's field of view", "D": "Another drone hovering above the tree near the traffic light in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "In UAV2's aerial view, a drone is partially obscured by the tree along the curved sidewalk. UAV3's perspective shows the same drone fully visible and hovering above the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_052.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_052.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_052.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_084", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_84", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection accuracy for bicycles and pedestrians in this image?", "options": { "A": "Motion blur caused by fast-moving bicycles", "B": "Partial occlusion by trees and shadows", "C": "High noise due to poor image resolution", "D": "Overexposure from excessive sunlight" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows bicycles and pedestrians partially hidden by dense foliage and shadows cast by trees, reducing the detection accuracy for these targets.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_055", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_475", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, a small black object is visible on the paved area. Based on its appearance and location, what type of target is this most likely to be?", "options": { "A": "A drone stationary on the ground", "B": "A parked vehicle", "C": "A pedestrian moving across the area", "D": "A misplaced traffic cone" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an urban park and paved area with greenery. A small black object is present on the paved surface, likely identifiable as a drone due to its size and shape from above.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_055.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_055.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_055.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_009", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_95", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the position of the helipad relative to nearby buildings and the drone in the image?", "options": { "A": "The helipad is located on top of a skyscraper surrounded closely by other tall buildings", "B": "The helipad is positioned on the ground level, at the center of a park surrounded by low-rise structures", "C": "The helipad is situated at the edge of the city, isolated from other buildings", "D": "The helipad is mounted on a rooftop, but partially covered by neighboring structures" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an aerial view of a helipad located on top of a skyscraper surrounded by numerous high-rise buildings and urban infrastructure.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_009.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_009.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_009.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_082", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_254", "question_type": "Why to Collaborate", "question": "Why should UAV2 collaborate with other UAVs in this scenario?", "options": { "A": "To address brightness imbalance and obtain clearer details from less distorted images", "B": "To capture additional objects outside the current field of view", "C": "To analyze traffic light operations more efficiently without requiring multiple perspectives", "D": "To reduce device malfunction risks by avoiding prolonged deployment of UAV2" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The UAV2 perspective appears compromised due to brightness imbalance and color distortion, making tree details unclear. Other UAVs provide high-quality images that can compensate for these issues, as evident from their unblurred, balanced views. The annotation highlights limitations in UAV2's output for object details in specific zones relative to the intersection area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_082.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_082.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_082.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_064", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_64", "question_type": "Causal Assessment", "question": "What is the primary issue affecting the detection of drones and other targets in this image?", "options": { "A": "Excessive motion blur caused by fast UAV movement", "B": "Occlusion caused by dense foliage in the scene", "C": "Low contrast due to poor lighting conditions", "D": "Overexposure from direct sunlight on targets" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a clear road partially obscured by dense foliage at the edges, which creates occlusion that can affect the detection of drones and other targets like vehicles, pedestrians, and bicycles.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_064.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_064.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_064.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_062", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_383", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the concrete pavilion positioned relative to the line of trees near the road?", "options": { "A": "The concrete pavilion is located directly beside the line of trees near the road", "B": "The concrete pavilion is positioned upstream in the direction opposite to the road's traffic flow", "C": "The concrete pavilion is situated farther away from the road, beyond the line of trees", "D": "The concrete pavilion is situated between the line of trees and the road" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures an urban setting with a road bordered by green trees, a concrete pavilion farther away from the road, and tall buildings in the background.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_062.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_062.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_062.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_054", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_54", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the drone hovering over the road partially obscured by tree foliage in UAV2's perspective?", "options": { "A": "The drone now visible near the crosswalk and fully unobstructed in UAV3's aerial perspective", "B": "The drone now positioned on the sidewalk beside a cyclist in UAV1's aerial view", "C": "The drone seen flying above a grassy area in the edge of UAV3's field of view", "D": "The drone seen hovering over a parked blue car in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "The first UAV perspective (UAV2) shows a drone hovering over the road but partially obscured by tree foliage. In subsequent UAV perspectives, the drone appears fully unobstructed near a crosswalk or positioned in different locations.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_054.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_054.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_054.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_075", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_75", "question_type": "Why to Collaborate", "question": "Why should UAV2 collaborate with other UAVs in the current scenario?", "options": { "A": "To obtain clearer visibility of the distant target that is occluded by tree foliage", "B": "To improve the resolution of the images captured by UAV2", "C": "To synchronize navigation routes among the UAVs", "D": "To expand the coverage area and locate unmapped regions" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV2 captures a segment of roadway heavily occluded by tree foliage, making the target difficult to discern due to distance and obstruction. The target is visible and larger in the perspectives of other UAVs, as indicated by the annotation describing the insufficient visibility in UAV2.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_075.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_075.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_075.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_031", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_31", "question_type": "Why to Collaborate", "question": "Why should UAV3 collaborate with other UAVs in this scenario?", "options": { "A": "To overcome object occlusion caused by dense tree coverage", "B": "To synchronize drone paths across views for better tracking", "C": "To optimize brightness levels across all UAVs in poor lighting", "D": "To reduce processing complexity by offloading tasks to other UAVs" }, "correct_answer": "A", "annotation_info": "The current image suffers from object occlusion, while the other perspective has a complete view of the object and can provide complementary information., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV3 captures the road with significant occlusion from dense trees, limiting visibility of objects like bicycles. Images from other UAVs showcase clear views of the same region and provide complementary data. The annotation indicates UAV3 experiences occlusion and visibility issues at positions (25.4%, 47.1%) and (68.9%, 48.5%). Collaboration is necessary for overcoming occluded regions and gathering complete information.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_031.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_031.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_031.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_270", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_291", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the drone positioned relative to the central avenue?", "options": { "A": "The drone is hovering directly above the median of the central avenue", "B": "The drone is located to the left of the central avenue, above the buildings", "C": "The drone is positioned to the right of the central avenue, above the trees", "D": "The drone is flying far behind the central avenue, above a distant structure" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV's aerial view displays an urban scene with buildings on either side of a central avenue. A drone is visible hovering above the median of the central avenue.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_270.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_270.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_270.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_011", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_183", "question_type": "Scene Description", "question": "What is the primary spatial challenge observed in UAV2's field of view for monitoring diverse targets?", "options": { "A": "The dense tree coverage obstructing the visibility of both pedestrians and vehicles", "B": "The high vehicle density near the crosswalk making pedestrian tracking difficult", "C": "The simultaneous monitoring of drones and road traffic in a confined space", "D": "The lack of clear pedestrian paths affecting UAV movement decisions" }, "correct_answer": "A", "annotation_info": "Perception issues: Occluded; Perception degradation: Object occlusion, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 67.75193798449612, 'y': 59.25925925925925, 'width': 5.503875968992247, 'height': 6.201550387596896, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 33.02325581395349, 'y': 30.594315245478036, 'width': 3.4883720930232585, 'height': 2.7562446167097363, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The current image suffers from object occlusion, while the other perspective has a complete view of the object and can provide complementary information., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image shows a treelined urban environment with dense tree coverage near sidewalks, limiting the UAV's visibility of pedestrians and vehicles. The UAV is situated near the trees and monitoring targets in a partially obstructed view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_011.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_011.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_011.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_045", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_131", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV1", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_045.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_045.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_045.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_023", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_535", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV2\uff0cUAV1", "B": "None (no suitable collaboration partner)", "C": "UAV2", "D": "UAV1" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2\uff0cUAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_023.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_023.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_023.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_015", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_436", "question_type": "Why to Collaborate", "question": "Why is it important for UAV1 to collaborate with other UAVs in this scenario?", "options": { "A": "To compensate for shadowed regions that obscure the target", "B": "To reduce computational requirements by offloading tasks to other UAVs", "C": "To correct for device malfunction that affects image resolution", "D": "To expand the coverage area for larger field of view" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The first image taken by UAV1 shows portions of the area affected by shadows, making it difficult to identify targets clearly. Other UAVs provide perspectives with better lighting and visibility as indicated by the annotation. UAV1's view is also impacted by blur or color distortion.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_057", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_379", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "0", "B": "2", "C": "3", "D": "1" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_057.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_057.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_057.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_018", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_438", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how can the spatial arrangement of the trees and pathways in the scene be described?", "options": { "A": "The trees are evenly distributed across the entire scene, with pathways cutting through them symmetrically.", "B": "The pathways predominantly border the grassy area, with trees clustered near the edges and center.", "C": "The trees form parallel rows along the central pathway, creating a structured alignment with distinct spacing.", "D": "The pathways intersect irregularly within the grassy area, scattering the trees randomly throughout." }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a scene where trees are clustered near the edges and center of a grassy area, while the pathways border and segment the greenery.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_018.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_018.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_018.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_065", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_387", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "0", "B": "2", "C": "3", "D": "1" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_065.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_065.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_065.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_086", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_258", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "5", "B": "4", "C": "3", "D": "2" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_002", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_2", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the blue car positioned relative to the cyclist near the intersection?", "options": { "A": "The blue car is further down the road in a straight line from the cyclist's location", "B": "The blue car is positioned on an adjacent road separated by trees from the cyclist", "C": "The blue car is directly behind the cyclist on the same road leading into the intersection", "D": "The blue car is parked next to the cyclist on the same side of the road" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of a tree-lined intersection with a cyclist near the crosswalk and a blue car visible on a parallel road separated by trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_002.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_002.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_002.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_045", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_268", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how is the main avenue aligned with respect to the UAV and surrounding buildings?", "options": { "A": "The main avenue extends ahead of the UAV and is flanked by buildings of similar height on both sides", "B": "The main avenue runs perpendicular to the UAV's direction and is bordered by low-rise structures", "C": "The main avenue begins behind the UAV and is surrounded by dense vegetation on either side", "D": "The main avenue extends ahead of the UAV and is flanked by taller buildings on one side and shorter buildings on the other" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a central avenue extending ahead, bordered by trees and surrounded by buildings of varying heights. Taller skyscrapers are visible both on the left and right sides of the avenue, while the UAV hovers mid-air slightly above the road.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_045.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_045.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_045.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_039", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_211", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "3", "B": "5", "C": "2", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_039.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_039.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_039.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_064", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_236", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "3", "B": "1", "C": "4", "D": "5" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_064.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_064.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_064.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_085", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_257", "question_type": "Scene Comparison", "question": "How do the types of targets detected by UAV1 differ from those detected by UAV2 and UAV3?", "options": { "A": "UAV1 detects traffic lights and general road layout, while UAV2 focuses on individual tree objects and UAV3 detects bicycles near the pedestrian crossing.", "B": "UAV1 detects urban structures, while UAV2 and UAV3 detect nothing specific.", "C": "UAV1 detects bicycles under the trees more clearly than UAV2 and UAV3.", "D": "UAV1 detects road signals, UAV2 detects bicycles exclusively, and UAV3 detects traffic lights only." }, "correct_answer": "A", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 40.23255813953489, 'y': 23.152454780361754, 'width': 1.782945736434101, 'height': 3.0318690783807085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 shows a detailed layout including traffic lights and road intersections; UAV2 provides a side angle with focus on individual trees; UAV3 captures bicycles near a pedestrian crossing with a top-down perspective.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_085.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_085.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_085.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_004_frame_102", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_275", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting vehicles at ground level?", "options": { "A": "Highly suitable due to clear visibility and sufficient resolution", "B": "Moderately suitable due to partial tree obstructions and road distance", "C": "Low suitability due to excessive obstructions and poor target visibility", "D": "Unsuitable due to lack of identifiable vehicles" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a cityscape with multiple UAVs in the foreground, distant vehicles on the road below, and partial obstructions from trees. The resolution is high, but vehicle targets are small and somewhat occluded.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_102.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_102.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_102.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_444", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_309", "question_type": "Why to Collaborate", "question": "Why should UAV1 collaborate with other UAVs in this scene?", "options": { "A": "To overcome object occlusion and obtain complete visual information", "B": "To verify the detected objects using identical angles from multiple UAVs", "C": "To improve device synchronization during multi-UAV data capture", "D": "To expand coverage and monitor areas outside UAV1's field of view" }, "correct_answer": "A", "annotation_info": "The current image suffers from object occlusion, while the other perspective has a complete view of the object and can provide complementary information., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 captures a city scene where parts of objects are occluded by nearby buildings, while views from other UAVs show complete visibility of the occluded areas and can provide complementary information. Annotation highlights UAV1's limitations in visibility at specific positions and mentions object occlusion as the primary issue.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_444.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_444.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_444.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_339", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_298", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the drone positioned relative to the tallest building in the foreground?", "options": { "A": "The drone is located directly above the tallest building's rooftop", "B": "The drone is hovering beside the tallest building's left facade", "C": "The drone is positioned on the opposite side of the street from the tallest building", "D": "The drone is stationed adjacent to the green park behind the tallest building" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a cityscape with a drone hovering directly above the rooftop of the tallest building on the foreground, surrounded by a grid of roads and other lower structures.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_339.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_339.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_339.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_081", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_502", "question_type": "Scene Comparison", "question": "What is the most likely area of interest in this scene for the UAV3, based on spatial layout and potential target presence?", "options": { "A": "The open green area with densely spaced trees", "B": "The pedestrian walkway near the structured building", "C": "The large glass-roofed building structure", "D": "The empty paved area with no visible movement" }, "correct_answer": "B", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 68.89236665604902, 'y': 8.641009262208604, 'width': 1.555381667197551, 'height': 1.3825614819533758, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "The image shows an aerial view with a green area containing trees on the left, a paved pedestrian walkway on the right, and a large glass-roofed structure extending across one side. There is potential pedestrian activity near the walkway adjacent to the structured building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_081.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_081.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_081.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_029", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_201", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "2", "B": "1", "C": "3", "D": "0" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_029.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_029.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_029.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_005", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_426", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "1", "B": "2", "C": "0", "D": "4" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_005.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_005.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_005.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_063", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_382", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how is the white canopy positioned relative to the adjacent road and the surrounding trees?", "options": { "A": "The white canopy is directly adjacent to the road, surrounded by trees in close proximity", "B": "The white canopy is located near the building, with trees lining the opposite side of the road", "C": "The white canopy is surrounded by trees directly under it and adjacent to the road", "D": "The white canopy is centered between the building and the road, with no trees in its immediate vicinity" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV's aerial view shows a white canopy positioned near a tall building with trees aligned on the far side of a road, creating a symmetrical layout.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_063.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_063.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_063.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_026", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_112", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV1", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_026.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_026.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_026.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_004_frame_369", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_302", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "4", "B": "5", "C": "3", "D": "1" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_369.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_369.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_369.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_051", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_563", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "0", "B": "1", "C": "2", "D": "5" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_051.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_051.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_051.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_047", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_468", "question_type": "Scene Comparison", "question": "How do the types of detected targets differ between the UAV perspectives?", "options": { "A": "UAV1 detects a bicycle near the trees while UAV2 and UAV3 emphasize structural targets like the pavilion roof", "B": "UAV2 detects the highest number of bicycles compared to UAV1 and UAV3", "C": "UAV3 detects only trees and vegetation, while UAV1 and UAV2 detect man-made structures and bicycles", "D": "All three UAVs detect the same targets without noticeable differences" }, "correct_answer": "A", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 59.33903189690216, 'y': 34.26300049596243, 'width': 1.7556325608334238, 'height': 2.5777583411450378, 'rotation': 34.01934998982438, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 59.11941544632223, 'y': 33.8432676031463, 'width': 2.4262132534072456, 'height': 3.080420915247042, 'rotation': 31.373005140108432, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 captures a bicycle obscured near the trees in a partially shadowed area. UAV2 emphasizes the pavilion structure and provides a broader view of the landscape. UAV3 includes better visibility of the pavilion roof along with trees and grass but less focus on specific targets like the bicycle.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_047.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_047.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_047.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_013", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_13", "question_type": "Usability Assessment", "question": "How does the vegetation coverage in this image affect the usability for detecting pedestrians and bicycles?", "options": { "A": "It severely limits usability due to significant occlusions", "B": "It moderately impacts usability by partially hiding some areas", "C": "It has minimal impact as other regions remain visible", "D": "It improves usability by providing clear distinctions between regions" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image shows a street obscured by dense vegetation, which significantly occludes pedestrian and bicycle detection from the UAV perspective. Large portions of the pavement and road are hidden, limiting visual access to potential targets.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_013.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_013.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_013.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_056", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_476", "question_type": "Object Grounding", "question": "From the UAV's perspective, where is the small black drone located relative to the prominent green lawn and structured wooden pavilion?", "options": { "A": "The small black drone is hovering above the green lawn near the cluster of trees on the right", "B": "The small black drone is positioned on the wooden pavilion near the central pathway", "C": "The small black drone is located in the shadowed area of the farthest edge of the lawn", "D": "The small black drone is on the paved walkway near the edge of the perimeter" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a scene showing a green lawn with scattered trees on the right and a structured wooden pavilion to the left. A small black drone is positioned on the wooden pavilion, near a central pathway that separates the two main areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_056.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_056.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_056.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_047", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_218", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the blue object positioned relative to the traffic lights?", "options": { "A": "The blue object is situated near the pedestrian sidewalk opposite the traffic lights", "B": "The blue object is located directly underneath the traffic lights", "C": "The blue object is on the same side as the traffic lights but on the leftmost lane of the road", "D": "The blue object is positioned behind the traffic lights on the central median strip" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV provides an aerial view of a city intersection where traffic lights are positioned on the street corners, and the blue object is seen near a sidewalk opposite these traffic lights.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_047.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_047.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_047.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_086", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_256", "question_type": "Object Matching", "question": "In UAV3's aerial view, the small drone hovering near the center of the crosswalk corresponds to which target in another UAV's perspective?", "options": { "A": "The drone now hovering near the corner of the intersection under light tree cover in UAV2's aerial view", "B": "The drone seen resting on the ground next to the pedestrian sidewalk in UAV1's perspective", "C": "The drone flying above the median strip in UAV2's aerial view", "D": "The drone seen rising vertically above a building across from the intersection in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a small drone hovering near the center of the crosswalk. UAV2's view captures the same drone hovering close to the intersection but partially obscured by overhanging tree branches.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_005", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_517", "question_type": "Causal Assessment", "question": "What primary factor might affect the detection of the bicycle in this scene?", "options": { "A": "Overexposure from reflected sunlight", "B": "Occlusion caused by the shadow of the building", "C": "Low resolution due to the UAV's altitude", "D": "Motion blur from the target's movement" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a bicycle located in a shadowed area underneath a building's shadow. The strong lighting contrast between the shadow and surrounding brightly lit areas creates a detection challenge.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_005.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_005.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_005.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_119", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_274", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the black UAV positioned relative to the rectangular white building?", "options": { "A": "The black UAV is flying directly above the rectangular white building", "B": "The black UAV is in front of the white building, near the intersection", "C": "The black UAV is on the left of the white building, in the open area", "D": "The black UAV is behind the white building, towards the large glass skyscraper" }, "correct_answer": "B", "annotation_info": "", "image_description": "Two black UAVs are flying above a city street surrounded by modern skyscrapers, trees, and a rectangular white building near an intersection seen from an aerial view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_119.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_119.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_119.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_039", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_460", "question_type": "Why to Collaborate", "question": "What is the main reason UAV2 should collaborate with other UAVs in this scenario?", "options": { "A": "To acquire clearer and larger visibility of the distant target", "B": "To compensate for shadow interference across the scene", "C": "To minimize overlap of field of views between UAVs", "D": "To improve drone navigation within limited flight zones" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The scene captured by UAV2 shows a small, distant target with minimal detail, whereas UAVs from other perspectives provide an enlarged and clearer view of the target. The annotation indicates this limitation in the current field of view and the importance of leveraging complementary perspectives.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_039.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_039.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_039.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_089", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_510", "question_type": "Observing Posture", "question": "What is the UAV's primary monitoring challenge in this scene based on target movement patterns?", "options": { "A": "Detecting bicycle motions among stationary architectural structures", "B": "Tracking pedestrian movement through dense vegetation areas", "C": "Identifying the absence of vehicles and focusing on environmental analysis", "D": "Monitoring drones hovering above the park area" }, "correct_answer": "D", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 30.99555570602411, 'y': 25.227466267281695, 'width': 0.8048080355485467, 'height': 0.9755248915739934, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1\uff0cUAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The UAV's view highlights a park and architectural features with sparse details about human or vehicle activities, but bicycles are visible on walking paths.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_089.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_089.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_089.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_052", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_224", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for pedestrians and bicycles at intersections in this image?", "options": { "A": "Overexposure due to sunlight intensity", "B": "Occlusion by dense trees near the sidewalk", "C": "Motion blur caused by fast movement of targets", "D": "Low resolution causing loss of detail" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a street intersection surrounded by dense trees. The trees occlude parts of the sidewalk and crosswalks, making pedestrians and bicycles harder to detect.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_052.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_052.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_052.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_067", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_153", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for bicycles and pedestrians in this image?", "options": { "A": "Extreme distance leading to reduced resolution of small targets", "B": "Overexposure due to excessive sunlight on the ground", "C": "Partial occlusion by buildings and urban structures", "D": "Motion blur from rapid UAV movement" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image is taken from a high vantage point near a helipad, and small targets such as bicycles and pedestrians are difficult to detect due to extreme distance, which limits resolution and visibility of small-scale objects.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_067.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_067.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_067.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_037", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_549", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "1", "B": "5", "C": "3", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_037.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_037.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_037.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_001_frame_075", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_75", "question_type": "Scene Description", "question": "Which spatial relationship best describes the positions of the bicycle and the blue vehicle in the UAV's view?", "options": { "A": "The bicycle is approaching the blue vehicle from the opposite side of the road.", "B": "The blue vehicle is parked, and the bicycle is moving towards the pedestrian crossing.", "C": "The bicycle is on the left sidewalk, while the blue vehicle is on the right road lane.", "D": "The blue vehicle is moving towards the bicycle at the intersection." }, "correct_answer": "C", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Excellent (5/5) - Sharp, clean, balanced colors, no artifacts.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 34.01938986152001, 'y': 58.74061225815909, 'width': 2.214556427476383, 'height': 2.9545914517983074, 'rotation': 334.6538240580533, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The image shows a UAV monitoring a scene with a bicycle on the left sidewalk and a stationary blue vehicle on the right road lane. Two drones hover near the road beneath the UAV's vantage point. The scene is framed by trees and crosswalks at an urban intersection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_075.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_075.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_075.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_051", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_563", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "5", "B": "4", "C": "1", "D": "2" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_051.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_051.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_051.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_064", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_576", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking bicycles and pedestrians?", "options": { "A": "Highly usable with clear visibility of bicycles and pedestrians", "B": "Moderately usable due to partial occlusions from trees and shadows", "C": "Low usability as bicycles and pedestrians are completely obscured", "D": "Not usable due to lack of any visible bicycles or pedestrians" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image captures an urban courtyard surrounded by buildings and trees. Shadows and tree foliage create partial occlusions, while pedestrians and bicycles are small in scale and difficult to discern clearly, although faint visual outlines are visible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_064.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_064.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_064.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_085", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_407", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "2", "B": "5", "C": "1", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_085.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_085.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_085.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_034", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_206", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_034.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_034.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_034.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_062", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_573", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the smaller UAV positioned relative to the curved building structure?", "options": { "A": "The smaller UAV is directly above the roof of the curved building", "B": "The smaller UAV is in front of the curved building, near the open plaza area", "C": "The smaller UAV is beyond the curved building and closer to the blue tower", "D": "The smaller UAV is flying parallel to the facade of the curved building at a higher altitude" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a smaller UAV positioned in the open plaza area near trees and in front of a curved building, with a blue tower nearby.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_062.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_062.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_062.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_035", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_456", "question_type": "Why to Collaborate", "question": "Why should UAV1 collaborate with other UAVs to perceive the target effectively?", "options": { "A": "To interpret data from the shadowed areas with the help of better lighting environments captured by other UAVs", "B": "To expand the aerial coverage of the scene, allowing a broader detection area", "C": "To synchronize data from multiple positions to improve computational efficiency", "D": "To avoid duplicating effort in scanning the same portions of the scene" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "The target in the UAV1 image is under shadow and difficult to perceive. Other UAVs provide perspectives with better lighting conditions, revealing details of the shadowed target. This highlights the necessity for collaboration to complement the missing information in UAV1's view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_035.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_035.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_035.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_073", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_242", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the cyclist positioned relative to the crosswalk and the surrounding environment?", "options": { "A": "The cyclist is on the road, near the edge of the crosswalk, adjacent to a pedestrian.", "B": "The cyclist is crossing the road through the middle of the crosswalk.", "C": "The cyclist is positioned on the sidewalk under a shaded area near the trees.", "D": "The cyclist is in the center of the road without any nearby landmarks." }, "correct_answer": "A", "annotation_info": "", "image_description": "From the UAV's aerial view, a cyclist is visible on the road near the edge of a crosswalk. They are positioned adjacent to a pedestrian and close to the sidewalk. Trees and shadows occupy part of the scene, and the pavement is clearly visible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_073.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_073.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_073.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_023", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_195", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking pedestrians and bicycles?", "options": { "A": "Highly usable, with unobstructed views of targets", "B": "Moderately usable, with partial occlusions from foliage", "C": "Low usability, due to significant occlusions and lack of visibility", "D": "Not usable, targets are entirely obscured" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image from UAV2 shows a city sidewalk and roads partially covered by dense foliage from trees, which occludes visibility of potential pedestrians and bicycles. While some areas of the pathway are visible, the foliage limits detection and tracking for targets such as pedestrians and bicycles.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_023.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_023.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_023.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_032", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_544", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting pedestrians and bicycles in the observed area?", "options": { "A": "Highly suitable due to clear visibility and minimal occlusions", "B": "Moderately suitable, but potential target detection is hindered by shadows", "C": "Low suitability due to lack of distinct pedestrian and bicycle targets", "D": "Not suitable due to poor resolution and complete absence of targets" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image depicts a city scene captured from a UAV perspective, with open spaces surrounded by trees, buildings, and shadows. There are no visible pedestrians or bicycles, and the large shadows and sparse environment reduce its usability for detecting those targets.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_032.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_032.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_032.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_006", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_518", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_006.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_006.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_006.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_001", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_173", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked regions?", "options": { "A": "Drone partially occluded by the tree near the curved sidewalk in the bottom-right corner that needs position clarification", "B": "Drone under shadows near the pedestrian crossing in the bottom-left area that requires lighting compensation", "C": "Drone with low visibility behind the tree canopy near the center of the image that needs contrast enhancement", "D": "Drone near the traffic lights in the upper-right area that requires trajectory prediction due to dynamic surroundings" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 observes two marked regions where a drone is partially obscured. One drone is in the bottom-right corner near the curved sidewalk covered by tree foliage, while the other area indicates a drone's location under shadows near the pedestrian crossing in the bottom-left area. Precise object detection is needed to improve tracking reliability.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_001.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_001.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_001.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_005", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_264", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the relative spatial alignment of the two visible drones within its field of view?", "options": { "A": "The drones are positioned directly above each other in vertical alignment", "B": "The drones are aligned laterally, side by side along the width of the road", "C": "The drones are spaced diagonally relative to each other in the airspace", "D": "The drones are positioned one ahead of the other along the length of the road" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures two drones side by side at a similar altitude, hovering across the width of a large avenue surrounded by buildings.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_005.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_005.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_005.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_023", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_109", "question_type": "Object Matching", "question": "The drone hovering near the helipad in UAV3's aerial view corresponds to which perspective in another UAV's view?", "options": { "A": "The drone now seen closer to the center of the helipad, captured in UAV2's perspective", "B": "The black bird-like object flying above the green field in UAV1's aerial view", "C": "The drone now moving away from the building and towards the edge of the helipad in UAV2's perspective", "D": "The drone partially obscured by the building's structure near the edge of the helipad in UAV1's view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a drone hovering near the helipad on top of a large building. UAV2's perspective captures the drone closer to the center of the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_023.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_023.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_023.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_328", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_296", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the pedestrian seen crossing the small central park in UAV3's perspective?", "options": { "A": "The pedestrian now walking alongside the bus stop in UAV2's aerial view", "B": "The pedestrian now entering a building near the intersection in UAV1's perspective", "C": "The pedestrian seen crossing another street adjacent to a tall skyscraper in UAV4's perspective", "D": "The pedestrian now seated under a tree near the central park visible in UAV3's aerial view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a pedestrian crossing the small central park. UAV2 provides a new perspective where the same pedestrian is seen walking alongside a bus stop.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_328.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_328.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_328.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_044", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_44", "question_type": "Usability Assessment", "question": "How usable is this image for detecting bicycles on the road from UAV2's perspective?", "options": { "A": "Highly usable with excellent visibility and unobstructed view", "B": "Moderately usable due to partial occlusion by tree foliage", "C": "Low usability due to heavy occlusion covering the road entirely", "D": "Not usable as the road and bicycles are completely invisible" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image captures a street view obstructed by dense tree foliage, limiting the visibility of objects like bicycles on the road. While some parts of the road are visible, potential targets are partially occluded.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_044.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_044.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_044.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_039", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_460", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drones in the marked regions?", "options": { "A": "Drone under shadows near the center of the paved area that requires lighting compensation for accurate detection", "B": "Drone partially occluded by branches near the top-right corner of the paved area that needs precise location mapping", "C": "Drone flying above the grass field near a clustered group of trees in the upper-left corner that requires height estimation", "D": "Drone moving near the edge of the shadow cast by the pavilion structure that needs trajectory clarifications" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3 captures two drones in marked regions: one under shadows near the center of the paved area and another partially occluded by branches near the top-right corner, requiring detailed object sharing for improved multi-view perception.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_039.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_039.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_039.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_019", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_531", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "2", "B": "3", "C": "1", "D": "0" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_019.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_019.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_019.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_004_frame_298", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_295", "question_type": "Scene Comparison", "question": "What is the primary monitoring priority for the UAVs in this scene given the urban environment?", "options": { "A": "Tracking the movement of drones in the airspace", "B": "Monitoring vehicle flow along the central roadway", "C": "Detecting pedestrians and their movement patterns", "D": "Identifying bicycles in bike lanes for traffic analysis" }, "correct_answer": "B", "annotation_info": "Perception issues: Out of FoV, Occluded; Perception degradation: Out of FoV, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 31.782945736434108, 'y': 48.23428079242033, 'width': 6.201550387596903, 'height': 3.720930232558139, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: None; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image depicts two UAVs flying over a modern urban environment with a central roadway lined by greenery. The roadway is populated with vehicles moving in both directions, while there is no visible pedestrian or bicycle activity. The UAVs are positioned strategically to monitor the flow of traffic effectively.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_298.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_298.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_298.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_015", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_187", "question_type": "Causal Assessment", "question": "What is the primary cause affecting the detection of bicycles and pedestrians in this image?", "options": { "A": "Excessive shadowing from nearby trees", "B": "High motion blur from camera instability", "C": "Partial occlusion by vegetation", "D": "Overexposure due to direct sunlight" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV3 image shows large areas of vegetation spilling over paths and sidewalks, resulting in parts of pedestrians and bicycles being partially obscured and reducing their detection quality.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_084", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_256", "question_type": "Why to Collaborate", "question": "Why should UAV3 collaborate with other UAVs in the scenario depicted?", "options": { "A": "To compensate for limited visibility caused by tree occlusion and device malfunction", "B": "To improve brightness imbalance across all UAV captures", "C": "To expand the field of view to capture additional areas", "D": "To avoid overloading computational resources with image processing tasks" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV3\u2019s image is impacted by tree occlusions and possible device malfunction leading to poorer visibility around the crossing area, while other UAVs have unobstructed and good-quality views to provide complementary information. Annotation highlights limited visibility and brightness imbalance in UAV3's image, where collaboration is necessary to fill these gaps.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_025", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_111", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "4", "B": "3", "C": "2", "D": "5" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_025.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_025.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_025.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_056", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_226", "question_type": "Object Matching", "question": "Which target in another UAV perspective corresponds to the stationary drone hovering over the central crosswalk in UAV3's aerial view?", "options": { "A": "The same drone now partially obscured by tree foliage in UAV2's aerial perspective", "B": "The same drone seen near the traffic lights on the left corner in UAV1's perspective", "C": "A different drone seen ascending beside a building in UAV2's aerial view", "D": "A different drone seen moving towards the center intersection in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's perspective shows a stationary drone hovering over the central crosswalk. UAV2's perspective captures the same drone partially obscured by the tree foliage near the walkways.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_056.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_056.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_056.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_006", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_92", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which object appears on the helipad in this image?", "options": { "A": "A parked vehicle", "B": "A surveillance drone", "C": "A pedestrian standing next to the helipad", "D": "A traffic cone placed at the center" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV image shows a green circular helipad marked with an 'H' and yellow boundaries. A small drone is visible near the center of the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_006.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_006.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_006.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_066", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_238", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection accuracy for pedestrians and bicycles in this image?", "options": { "A": "Motion blur due to fast UAV movement", "B": "Occlusion caused by trees and foliage", "C": "Overexposure in a brightly lit environment", "D": "Low resolution of the captured image" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image reveals that pedestrians and bicycles near the tree are partially or fully occluded by overlapping tree foliage, which obstructs visibility and hampers detection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_066.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_066.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_066.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_086", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_597", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how would you describe the spatial relationship between the small drone and the nearby trees in this urban environment?", "options": { "A": "The small drone is directly under the shadow of one of the trees near the curved building.", "B": "The small drone is positioned in an open space away from the trees near the edge of the curved building.", "C": "The small drone is above the canopy level of the trees, following their alignment.", "D": "The small drone is at the center of a cluster of trees next to the curved building." }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a small drone in an open space surrounded by trees near an urban environment with curved and rectangular buildings.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_092", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_263", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the blue trash bin positioned relative to the traffic lights at the intersection?", "options": { "A": "The blue trash bin is positioned behind the nearest traffic lights, closer to the trees", "B": "The blue trash bin is directly beside the traffic lights, adjacent to the pedestrian crossing", "C": "The blue trash bin is located further away from the intersection, near the opposite side of the road", "D": "The blue trash bin is positioned ahead of the traffic lights, closer to the mid-road divider" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an urban intersection with trees, pedestrian crossings, traffic lights, and a visible blue trash bin located behind the traffic lights closer to the trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_092.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_092.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_092.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_102", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_274", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which feature can best be used to distinguish between parked vehicles and moving vehicles in this urban environment?", "options": { "A": "The size of the vehicles as observed from above", "B": "The shadow direction indicating movement patterns", "C": "The position of vehicles relative to the marked lanes", "D": "The brightness levels of the vehicle color" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV's image captures a wide urban street from above, showcasing multiple vehicles positioned along marked lanes. Parked vehicles are visible on the roadside with stationary placement, while moving vehicles are detected in the center of the road along traffic flow.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_102.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_102.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_102.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_081", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_502", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "0", "B": "1", "C": "2", "D": "5" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_081.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_081.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_081.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_031", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_31", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how are the trees positioned relative to the road and sidewalk?", "options": { "A": "The trees line both sides of the road, blocking visibility of the sidewalks", "B": "The trees are positioned at the center of the road, dividing traffic lanes", "C": "The trees are sparsely scattered across the road, creating random obstructions", "D": "The trees are located between the sidewalks and the road, shading both areas" }, "correct_answer": "D", "annotation_info": "", "image_description": "The UAV captures a straight road bordered by trees on both sides, with sidewalks lying beyond the tree line and partially shaded by their foliage.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_031.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_031.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_031.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_047", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_467", "question_type": "Object Matching", "question": "Which pedestrian in another UAV's perspective corresponds to the pedestrian walking along the white path in UAV2's aerial view?", "options": { "A": "The pedestrian seen standing near the trees at the top-left corner in UAV1's perspective", "B": "The pedestrian now sitting on the wooden bench along the right side in UAV3's aerial view", "C": "The pedestrian walking near the purple-leaved tree in UAV3's perspective", "D": "The pedestrian standing at the center of the green field near the golden-leaved trees in UAV1's view" }, "correct_answer": "C", "annotation_info": "", "image_description": "UAV2's aerial view shows a pedestrian walking along the white path in a plaza; UAV3's perspective captures the same pedestrian walking near a prominent purple-leaved tree in the green area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_047.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_047.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_047.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_079", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_591", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "4", "B": "2", "C": "5", "D": "3" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_079.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_079.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_079.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_288", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_294", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drones in the marked region?", "options": { "A": "Drone near the building entrance on the left side of the image that requires detailed position information due to occlusion.", "B": "Drone above the center road with minimal background contrast that requires additional detection support.", "C": "Drone near the rooftop of the tall building in the upper-right area that requires tracking due to complex background.", "D": "Drone partially obscured by tree shadows near the bottom edge of the image that needs updated lighting compensation." }, "correct_answer": "C", "annotation_info": "", "image_description": "The marked regions in UAV3's image show drones at position (31.7%, 48.5%) with size 6.1%x3.3%, including one drone near urban areas with complex backgrounds, particularly near a rooftop in the upper-right area that may hinder tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_288.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_288.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_288.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_019", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_530", "question_type": "Object Recognition", "question": "What key target is detected in the open area near the tall buildings from the UAV's aerial perspective?", "options": { "A": "A small drone hovering in the open space", "B": "A pedestrian walking near the trees", "C": "A parked vehicle between the trees", "D": "A bicyclist riding along the sidewalk" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a top-down view of an urban plaza surrounded by tall buildings and trees. In the open area, a small drone is visible near the tall blue building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_019.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_019.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_019.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_021", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_192", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the blue object positioned in relation to the trees?", "options": { "A": "The blue object is located near the base of a tree in the sidewalk area", "B": "The blue object is positioned in the middle of the road intersection", "C": "The blue object is placed centrally on the crosswalk", "D": "The blue object is situated at a considerable distance away from the trees" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a blue object positioned near the base of a tree on the sidewalk, adjacent to the intersection, with other elements like trees, roadways, and crosswalks visible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_021.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_021.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_021.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_062", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_483", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_062.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_062.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_062.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_050", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_561", "question_type": "Object Matching", "question": "Which UAV perspective corresponds to the small black drone hovering in the open plaza slightly ahead of a curved building in UAV2\u2019s view?", "options": { "A": "The small black drone seen near the edge of the curved building, slightly above ground level in UAV3\u2019s perspective", "B": "The small black drone seen from a top-down aerial perspective, centered in the open plaza near a blue building in UAV1\u2019s field of view", "C": "The small black drone positioned near the trees and captured at a higher altitude in UAV3\u2019s aerial view", "D": "The small black drone obscured by the shadow of the curved building and partially visible in UAV1\u2019s perspective" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV2's perspective shows a small black drone hovering in the plaza near the curved building. UAV1's top-down view captures the same drone centered in the open area near a cluster of trees and the blue building from a higher perspective.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_050.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_050.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_050.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_081", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_166", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the relative position of the drone in the scene?", "options": { "A": "The drone is hovering above the center of the green helipad", "B": "The drone is positioned to the right of the helipad, near the building's edge", "C": "The drone is located directly below the helipad near the ground", "D": "The drone is flying above a cluster of trees visible from the UAV view" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of a helipad located atop a skyscraper in an urban area. A small drone is visible to the right of the helipad near the building's edge while the city skyline, smaller buildings, and trees are identifiable in the background.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_081.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_081.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_081.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_073", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_245", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone partially occluded by dense tree foliage near the center-right area that needs position clarification", "B": "Drone hidden in shadows near the bottom edge of the visible sidewalk that requires lighting compensation", "C": "Drone low to the ground near the pedestrian crossing on the bottom-left side that requires height verification", "D": "Drone masked by surrounding urban elements near the traffic island that requires background contrast enhancement" }, "correct_answer": "A", "annotation_info": "", "image_description": "In UAV1's view, the marked region shows a drone near dense tree foliage in the center-right area, with foliage partially obstructing visibility, while UAV2 and UAV3 provide complementary perspectives. The object information gap requires clarification of the drone's position and trajectory.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_073.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_073.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_073.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_001_frame_038", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_38", "question_type": "Observing Posture", "question": "Given the current scene, which target object requires the UAV's immediate monitoring focus?", "options": { "A": "The drone hovering above the pedestrian crossing", "B": "A bicycle approaching the intersection on the left", "C": "A vehicle parked on the road near the trees", "D": "Pedestrians waiting on the right sidewalk" }, "correct_answer": "A", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 44.08725602755453, 'y': 48.57762469702768, 'width': 1.9517795637198674, 'height': 3.87804566909044, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The image depicts a tree-lined urban intersection with key targets including a drone hovering above the pedestrian crossing, a bicycle moving toward the intersection from the left, and stationary objects like a parked vehicle and pedestrians on the sidewalk. The UAV's monitoring focus in generation 4 is on dynamic or moving objects that may affect nearby traffic.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_038.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_038.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_038.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_080", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_592", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "3", "B": "1", "C": "5", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_080.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_080.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_080.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_073", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_494", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "4", "B": "3", "C": "2", "D": "1" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_073.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_073.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_073.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_007_frame_016", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_528", "question_type": "Scene Comparison", "question": "How do the visibility and occlusion of target objects differ between the UAV perspectives in detecting the bicycle on the ground?", "options": { "A": "UAV1 shows the bicycle clearly due to the direct overhead angle, while UAV2 and UAV3 have partial occlusion from surrounding buildings and trees.", "B": "UAV2 provides the most clear detection of the bicycle, while UAV1 and UAV3 have significant occlusions obscuring the object.", "C": "UAV3 shows the bicycle most accurately thanks to reduced shadow interference, while UAV1 has partial occlusion and UAV2 fails to detect it.", "D": "All three UAVs provide equally clear visibility of the bicycle without any occlusion issues." }, "correct_answer": "A", "annotation_info": "Perception issues: Occluded, Too small; Perception degradation: Object occlusion, Under shadow, Small target / Long distance; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 47.336797858541566, 'y': 35.34684061611237, 'width': 1.2799352403220918, 'height': 1.8177930829589843, 'rotation': 335.9497014703961, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 65.43811644221591, 'y': 53.20481235011299, 'width': 0.9738177230137381, 'height': 1.5581083568219825, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The current image suffers from object occlusion, while the other perspective has a complete view of the object and can provide complementary information., The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV1 provides a clear overhead view of a bicycle placed in the open area near the large blue building, while UAV2 and UAV3 perspectives introduce partial occlusion due to varying tree and building positioning, potentially impacting detection accuracy.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_016.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_016.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_016.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_054", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_376", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_054.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_054.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_054.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_036", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_456", "question_type": "Object Grounding", "question": "From the UAV\u2019s aerial perspective, where is the UAV positioned relative to the shadows cast by the trees?", "options": { "A": "The UAV is positioned in an open area, clear of the tree shadows", "B": "The UAV is partially hidden within the shadow cast by trees", "C": "The UAV is directly behind the largest tree shadow near the center of the image", "D": "The UAV is on the paved terrain and unaffected by tree shadows" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures a parked vehicle located amidst the tree shadows on a grassy area, with paved terrain on the lower portion of the image.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_036.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_036.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_036.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_022", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_22", "question_type": "Object Grounding", "question": "Based on the UAV's aerial view, what is the spatial relationship of the road to the trees in the scene?", "options": { "A": "The road is completely covered by the trees and not visible from above", "B": "The road runs parallel to the grouping of trees on both sides", "C": "The road is located at the edge of the trees, visible only on one side", "D": "The road intersects the trees diagonally, dividing them" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV's perspective shows a clear road running symmetrically between rows of dense tree cover on both sides.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_022.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_022.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_022.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_007_frame_078", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_590", "question_type": "Scene Description", "question": "What is the primary monitoring focus of the UAV in this scene?", "options": { "A": "Tracking a drone hovering near the ground", "B": "Observing pedestrian movement in the shaded areas", "C": "Monitoring vehicle traffic on nearby roads", "D": "Detecting bicycles passing through the open space" }, "correct_answer": "A", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 26.183218221037517, 'y': 50.00579851326117, 'width': 1.101728680931597, 'height': 1.2673480251239226, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1\uff0cUAV3; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene shows an urban area with buildings, trees, and a small drone hovering low to the ground in an open area. No pedestrians, vehicles, or bicycles are visible in the UAV's current view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_078.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_078.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_078.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_044", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_128", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the drone hovering above the helipad seen in UAV3's perspective?", "options": { "A": "The drone now landing on the helipad as seen from UAV2's view", "B": "The drone flying away from the rooftop helipad as seen in UAV1's perspective", "C": "The drone hovering above a nearby park, seen in UAV2's aerial view", "D": "The drone resting on the rooftop helipad, inactive in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a drone hovering above a rooftop helipad; UAV2's perspective shows the same drone landing on the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_044.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_044.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_044.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_086", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_507", "question_type": "Scene Comparison", "question": "How does the number of distinct tree types detected differ between the three UAV perspectives?", "options": { "1": " UAV1 and UAV3 detect similar tree types, but UAV2 detects a unique additional tree type", "B": "UAV1 detects the most distinct tree types compared to UAV2 and UAV3", "C": "UAV2 detects fewer tree types than UAV1, but more than UAV3", "D": "All three UAVs detect an identical number and variety of tree types" }, "correct_answer": "A", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 61.08533475725586, 'y': 17.18148466255143, 'width': 1.7822081603305335, 'height': 1.774287235173503, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "UAV1 highlights a notable golden-yellow tree among the predominantly green trees but lacks a full view of shaded areas. UAV2 captures the golden-yellow tree and includes purple flowering trees visible at the top center. UAV3 provides an overview of both vibrant and shadowed trees but does not reveal additional distinct tree types beyond those seen in UAV1 and UAV2.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_033", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_454", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "B", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_033.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_033.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_033.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_084", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_84", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which target is most clearly visible in this image?", "options": { "A": "A streetlight partially covered by foliage", "B": "A surveillance drone positioned above the road", "C": "A pedestrian walking along the sidewalk", "D": "A parked vehicle obscured by nearby trees" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of a surveillance drone hovering above a road, surrounded by trees that partially obstruct the view of the pavement and adjacent areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_047", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_558", "question_type": "Object Matching", "question": "The drone hovering near the curved building's corner in UAV1's aerial view corresponds to which target in another UAV's perspective?", "options": { "A": "The same drone, now seen closer to the row of trees, to the left of the curved building, in UAV2's perspective", "B": "The same drone, now seen near an intersection close to the blue skyscraper in UAV3\u2019s perspective", "C": "The drone now seen flying above the center of the large open square near UAV2\u2019s curved building", "D": "The drone is now not occluded by trees in UAV3\u2019s aerial view" }, "correct_answer": "C", "annotation_info": "", "image_description": "UAV1 shows a drone hovering near the sharp corner of a curved building. In UAV2, the same drone is closer to the trees lining the left side of the curved building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_047.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_047.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_047.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_004_frame_349", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_300", "question_type": "Causal Assessment", "question": "What is the primary factor affecting the detection of pedestrians and vehicles in this image?", "options": { "A": "Occlusion due to buildings and urban structures", "B": "Overexposure caused by excessive sunlight", "C": "High altitude of UAV resulting in distant targets", "D": "Motion blur caused by UAV movement" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image represents a high-altitude urban environment captured by a UAV, showing a wide view of streets and buildings. Targets such as pedestrians and vehicles appear distant and small, reducing detectability.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_349.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_349.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_349.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_062", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_148", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking vehicles and pedestrians at ground level?", "options": { "A": "Highly usable due to clear ground visibility and minimal occlusions", "B": "Moderately usable as some regions are obscured by building shadows", "C": "Low usability due to significant occlusions from perspective and structures", "D": "Not usable as ground-level features are entirely obscured" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image, taken from a high altitude perspective, shows a cityscape with prominent buildings, a helipad, and open green spaces. Ground-level details are partially visible but are heavily occluded by structures and shadows, which impacts usability for detecting and tracking vehicles and pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_062.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_062.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_062.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_069", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_489", "question_type": "Object Recognition", "question": "From this UAV's aerial view, what type of UAV-specific target is partially concealed within the greenery?", "options": { "A": "A small surveillance drone", "B": "A parked car", "C": "A pedestrian walking through the trees", "D": "A wildlife animal" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV's aerial perspective shows a partially concealed object within the greenery, which appears to be a small surveillance drone. Surrounding the area are multiple trees and a wooden walkway adjacent to an open plaza.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_069.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_069.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_069.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_030", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_202", "question_type": "Scene Comparison", "question": "How do the detected targets differ between UAV1, UAV2, and UAV3 in terms of visibility and type?", "options": { "A": "UAV1 detects only traffic signals, UAV2 detects vegetation and drones, while UAV3 detects drones and crosswalk boundaries", "B": "UAV1 detects traffic signals and crosswalk boundaries, UAV2 shows drones near trees, and UAV3 provides the clearest view of drones and crosswalks", "C": "UAV1 is unable to detect drones, UAV2 shows drones clearly, and UAV3 detects all targets including traffic signals and vegetation", "D": "UAV1,UAV3 detects all targets including drones, UAV2 ignores traffic signals" }, "correct_answer": "D", "annotation_info": "Perception issues: Occluded, Too small; Perception degradation: Object occlusion, Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration partner: UAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 provides a broad view of the intersection capturing traffic signals and crosswalks but misses drones; UAV2 captures side targets such as drones near trees and vegetation; UAV3 shows an overhead view with a clear detection of drones and crosswalk boundaries.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_030.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_030.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_030.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_086", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_257", "question_type": "Object Recognition", "question": "From this UAV aerial perspective, what type of target is most likely obscured by the trees in this scene?", "options": { "A": "A parked vehicle", "B": "A pedestrian walking along the pathway", "C": "A drone hovering above the trees", "D": "A stop sign located near the curve" }, "correct_answer": "A", "annotation_info": "", "image_description": "This UAV image displays a tree-lined pathway with shadows cast on the pavement. While individual objects are partially obscured by dense tree canopies, the scene suggests a pedestrian pathway and areas where targets like pedestrians may be hidden from direct aerial view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_051", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_223", "question_type": "Why to Collaborate", "question": "What is the main reason UAV3 should collaborate with other UAVs based on the provided images and annotations?", "options": { "A": "To supplement information lost due to occlusion from trees in its field of view", "B": "To improve processing speed affected by brightness imbalance", "C": "To allow UAV3 to compensate for excessive image blur caused by motion", "D": "To increase coverage and track dynamic objects across the area" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image from UAV3 is affected by tree occlusion, limiting visibility in certain regions, while the images from other UAVs provide complementary views with clearer visibility. The annotation highlights issues such as brightness imbalance, blur, and occlusion that hinder analysis and require cross-UAV collaboration.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_051.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_051.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_051.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_033", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_33", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV2", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_033.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_033.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_033.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_057", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_379", "question_type": "Scene Comparison", "question": "What is the most critical monitoring priority for the UAV in this urban scene?", "options": { "A": "Identifying pedestrian movement on the sidewalks", "B": "Monitoring vehicle flow on the road", "C": "Observing the stability of the overhead structure", "D": "Tracking bicycles in the designated lanes" }, "correct_answer": "B", "annotation_info": "Perception degradation: Out of FoV; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration partner: UAV2; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The image depicts an urban environment with multiple lanes of road lined with trees. A large structure partially visible in the foreground casts a shadow, and pedestrian sidewalks are present. Vehicles on the road appear to be the primary monitoring focus.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_057.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_057.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_057.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_020", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_106", "question_type": "Object Grounding", "question": "From the UAV's perspective, how is the small drone spatially positioned relative to the helipad on top of the building?", "options": { "A": "The small drone is hovering directly above the center of the helipad", "B": "The small drone is hovering near the edge of the helipad perimeter", "C": "The small drone is positioned off to the side, outside the boundaries of the helipad", "D": "The small drone is stationary above the far corner of the building roof" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a wide-angle view of a helipad on top of a tall building. A small drone is visible to the side, just outside the helipad's designated area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_020.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_020.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_020.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_043", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_127", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, in which spatial zone is the green helipad located relative to the surrounding structures?", "options": { "A": "The green helipad is positioned on the south side of the urban park", "B": "The green helipad is situated at the top of a tall building overlooking other rooftops", "C": "The green helipad is located on ground level in the center of the urban complex", "D": "The green helipad is placed near the edge of a river adjacent to low-rise structures" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a green helipad located on top of a tall, geometrically-patterned building. The helipad is surrounded by skyscrapers of varying heights, an urban park, and low-rise buildings.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_043.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_043.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_043.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_010", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_181", "question_type": "Object Matching", "question": "In the aerial perspective of another drone, which target corresponds to the drone next to the tree seen in the perspective of UAV1?", "options": { "A": "From the perspective of UAV2, the UAV is obscured.", "B": "From the aerial perspective of UAV2, the UAV is moving along the sidewalk on the left towards the entrance of the building", "C": "From the perspective of UAV3, the UAV near the traffic lights at the crosswalk", "D": "From the aerial perspective of UAV3, the UAV passes through the intersection" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a pedestrian walking towards the right-side crosswalk under the shade of trees. UAV2's perspective shows the same pedestrian standing near a tree close to the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_010.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_010.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_010.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_010", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_182", "question_type": "Why to Collaborate", "question": "Why is it important for UAV3 to collaborate with other UAVs in this scenario?", "options": { "A": "To compensate for visibility issues caused by shadows in its view", "B": "To expand the area covered by the UAVs", "C": "To reduce overlapping data between UAV views", "D": "To detect faster movement patterns obscured by lighting conditions" }, "correct_answer": "A", "annotation_info": "The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "UAV3's view is partially obstructed due to shadow conditions, making the target difficult to perceive. Other UAV perspectives provide better lighting and visibility for the same target.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_010.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_010.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_010.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_029", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_115", "question_type": "Causal Assessment", "question": "What is the primary cause of detection difficulty for drones and pedestrians in this image?", "options": { "A": "Strong glare from reflective building surfaces", "B": "Occlusion caused by the helipad structure", "C": "Low resolution due to high altitude of UAV2", "D": "Dark shadows obscuring critical areas of the scene" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image shows a reflective helipad and building surfaces creating significant glare, which reduces visibility for detecting drones and pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_029.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_029.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_029.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_055", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_474", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the pedestrian walking along the pathway near the tree shadows in UAV3's perspective?", "options": { "A": "The pedestrian now seated on the bench near a group of trees in UAV2's field of view", "B": "The pedestrian seen standing next to the wooden platform near the corner area in UAV1's aerial view", "C": "The pedestrian now walking close to the purple flowering tree in UAV2's perspective", "D": "The pedestrian seen merging with a group under the shadow near the central structure in UAV1's view" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3's aerial view shows a pedestrian walking along the pathway near the tree shadows. Different UAV perspectives show the same pedestrian either next to the wooden platform or moving towards other landmarks.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_055.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_055.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_055.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_022", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_108", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked region near the helipad?", "options": { "A": "Drone flying just above the helipad in the center that requires precise altitude estimation", "B": "Drone at the edge of the helipad moving toward the building that needs trajectory confirmation", "C": "Drone with shadows overlapping its position near the upper-right of the helipad that requires lighting adjustment", "D": "Drone hovering near the glass structure behind the helipad that requires obstacle proximity details" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 captures a drone in the marked region near the helipad at position (52.6%, 35.4%) with size 0.9%x1.5%. The drone is visually located in the center of the helipad, requiring accurate altitude and position information across views.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_022.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_022.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_022.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_019", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_341", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "5", "B": "2", "C": "3", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_019.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_019.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_019.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_059", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_480", "question_type": "Observing Posture", "question": "What is the most notable spatial relationship between the targets in the UAV's field of view?", "options": { "A": "A bicycle is navigating along the pathway near the building structure.", "B": "A vehicle is parked close to the row of trees on the left.", "C": "Multiple pedestrians are visible walking through the green area.", "D": "A drone is flying above the trees, monitoring activities at street level." }, "correct_answer": "A", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 78.62470097984836, 'y': 16.013891445114865, 'width': 1.75287190142474, 'height': 1.2118620553059891, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target.", "image_description": "The image shows a landscaped area with trees on the left and a paved area on the right next to a building structure. A bicycle is visible moving along the pathway adjacent to the building. No pedestrians, vehicles, or drones are prominently seen in this view.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_059.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_059.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_059.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_007", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_93", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which of the following would represent the most challenging target to identify due to the altitude and urban environment seen in the image?", "options": { "A": "A pedestrian walking near trees in the park", "B": "A drone hovering near the edge of the helipad", "C": "A vehicle parked near the tall buildings", "D": "A cyclist riding through an empty road" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a top-down view of a helipad on a rooftop and a surrounding urban environment with high-rise buildings, streets, and a park area with trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_007.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_007.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_007.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_060", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_60", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_060.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_060.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_060.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_057", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_379", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking pedestrians and bicycles in the scene?", "options": { "A": "Highly usable with clearly visible paths and minimal occlusions", "B": "Moderately usable due to obstruction from trees and building shadows", "C": "Low usability due to excessive clutter and lack of contrast", "D": "Not usable as pedestrians and bicycles cannot be detected under these conditions" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows an urban scene captured from UAV2 with clear views of large buildings, trees along the road, and an open pedestrian area. Shadows from buildings and the dense tree coverage may limit visibility and obstruct tracking of pedestrians or bicycles in certain areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_057.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_057.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_057.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_058", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_230", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection quality for bicycles and pedestrians in this image?", "options": { "A": "Overexposure due to bright lighting conditions", "B": "Blurring caused by motion of the UAV", "C": "Occlusion by dense tree foliage", "D": "Low resolution due to camera limitations" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image shows dense tree foliage obstructing key areas of visibility where pedestrians and bicycles might be present, significantly impacting detection capabilities.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_058.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_058.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_058.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_039", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_459", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the relative position of the dark object in the green area with respect to the transition zone between green space and tiled pavement?", "options": { "A": "The dark object is located farthest from the transition zone, closer to the top of the green area", "B": "The dark object is positioned at the transition zone between the green area and tiled pavement", "C": "The dark object is midway between the transition zone and the edge of the green area", "D": "The dark object is closer to the transition zone but slightly inside the green area" }, "correct_answer": "D", "annotation_info": "", "image_description": "The UAV captures a green area filled with trees, transitioning into a tiled pavement. A dark object is visible inside the green area, near the transition zone to the tiles.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_039.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_039.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_039.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_028", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_539", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the small drone hovering in the open plaza near the blue building in UAV1's perspective?", "options": { "A": "The small drone now seen hovering near the row of trees closest to the curved white building in UAV2's aerial perspective", "B": "The small drone seen flying over the roadway near the blue building in UAV3's perspective", "C": "The small drone now hovering by the edge of the curved white building in UAV2's aerial view", "D": "The drone on the rooftop of the blue building as seen in UAV3's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a small drone hovering in the open plaza near the blue building. UAV2's perspective shows the same drone hovering near the row of trees closest to the curved white building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_028.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_028.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_028.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_066", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_387", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which feature would most likely indicate the presence of pedestrians near the pavilion structure in the image?", "options": { "A": "Shadow movements around the pavilion area", "B": "Clusters of small, stationary dots near the pavilion pillars", "C": "Regularly spaced lines indicating pedestrian paths", "D": "Large rectangular shapes similar to vehicles" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an urban environment with a pavilion structure, trees, and roads visible from above. Pedestrians are not clearly discernible but may be inferred by observing shadow movements near the pavilion area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_066.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_066.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_066.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_056", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_56", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "3", "B": "5", "C": "4", "D": "2" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_056.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_056.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_056.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_005", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_327", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_005.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_005.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_005.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_013", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_99", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the drone positioned relative to the helipad?", "options": { "A": "The drone is positioned near the center of the helipad", "B": "The drone is hovering above the helipad's outermost edge", "C": "The drone is outside the helipad's boundary but within the circle marking", "D": "The drone is flying over the buildings adjacent to the helipad" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures the scene of a green helipad situated atop a tall building surrounded by skyscrapers and urban infrastructure. A drone is clearly visible near the center of the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_013.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_013.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_013.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_086", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_408", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "3", "B": "5", "C": "2", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_029", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_115", "question_type": "Why to Collaborate", "question": "What is the primary reason UAV1 should collaborate with other UAVs in this scenario?", "options": { "A": "To provide additional views of areas blocked by tall buildings", "B": "To improve the resolution of distant objects in the scene", "C": "To synchronize drone flight paths for better coverage", "D": "To reduce the overall energy consumption of UAV1" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 provides a view from the rooftop of a tall building surrounded by other skyscrapers. The perspective reveals obstruction in some parts of the urban scene, as certain areas are occluded by nearby structures. Collaboration with other UAVs, which provide alternate viewpoints, helps minimize visibility limitations. Specific occluded zones are identified near the base regions of adjacent buildings in position (45.3%, 78.2%) with size 5.5%x4.0%.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_029.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_029.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_029.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_075", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_586", "question_type": "Object Matching", "question": "Which drone visible in another UAV's aerial view corresponds to the drone near the blue building in UAV1's perspective?", "options": { "A": "The drone now located near the curved residential building seen from UAV2's perspective", "B": "The drone partially occluded by trees near the road in UAV3's perspective", "C": "The drone flying above the intersection visible in UAV2's aerial view", "D": "The drone hovering above the pink walkway closer to the green trees in UAV3's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a drone positioned near the blue building in the open plaza. UAV2's perspective displays the same drone near the curved residential building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_075.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_075.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_075.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_030", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_202", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV2", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_030.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_030.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_030.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_078", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_498", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what is the most likely type of target located on the wooden platform in the image?", "options": { "A": "A white delivery truck", "B": "A small surveillance drone", "C": "A group of pedestrians", "D": "A parked motorcycle" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV's aerial perspective captures an urban landscape with a wooden platform, green areas with trees, and clear shadows. A small target resembling a surveillance drone is visible on the platform.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_078.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_078.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_078.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_036", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_207", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the drone hovering near the tree in UAV1's aerial view?", "options": { "A": "The drone seen above the crosswalk in UAV2's perspective", "B": "The drone located on the ground near the tree in UAV3's aerial view", "C": "The drone hovering above the middle lane of the road in UAV3's aerial view", "D": "The drone obscured by the leaves, barely visible in UAV2's perspective" }, "correct_answer": "B", "annotation_info": "", "image_description": "In UAV1's aerial view, a drone is hovering near a tree; in UAV3's perspective, the same drone is located on the ground near the tree. Other drones are visible but in different contexts and elevations.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_036.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_036.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_036.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_061", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_573", "question_type": "Usability Assessment", "question": "How suitable is this image for the detection of bicycles and pedestrians within urban surroundings?", "options": { "A": "Highly suitable with adequate lighting and no visual obstructions", "B": "Moderately suitable due to partial occlusion from trees", "C": "Low suitability due to lack of distinct features for bicycles and pedestrians", "D": "Unsuitable as no bicycles or pedestrians are visible in the scene" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows an urban environment from the UAV2 perspective, with large open areas, buildings, and scattered trees. There are no visible pedestrians or bicycles, with objects mostly stationary, limiting suitability for detecting these targets.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_061.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_061.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_061.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_004", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_516", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the objects in the marked regions?", "options": { "A": "Drone occluded by tree shadows near the bottom edge of the image requiring position clarification", "B": "Drone moving along the pathway below the tall building in the center of the image that requires trajectory prediction", "C": "Drone near the curved building on the right side of the image needing movement pattern analysis", "D": "Drone partially hidden by tree foliage near the middle area of the image requiring visibility enhancement" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 captures drones at two marked regions: one at the bottom edge near tree shadows and another near a pathway below the tall building. These drones require clarification of position and trajectory due to partial occlusion and shadowing effects.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_004.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_004.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_004.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_046", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_467", "question_type": "What to Collaborate", "question": "What specific object details should UAV2 share with other UAVs about the drones in the marked regions?", "options": { "A": "Drone under shadows near the center of the image that requires lighting adjustment for better tracking", "B": "Drone near the yellow-leaved tree on the left side of the grassy area that needs position refinement due to blending with the foliage", "C": "Drone flying above the complex geometric structure near the bottom-right area that requires trajectory clarification", "D": "Drone partially occluded by tree branches near the top-left corner of the grassy region that needs movement prediction" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV2 captures two drones in the marked regions. One drone is in shadows near the center of the image, while another is blending visually with foliage near a yellow-leaved tree on the left side of the grassy area, requiring enhanced visibility and position refinement.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_046.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_046.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_046.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_026", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_198", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drones in the marked regions?", "options": { "A": "Drone partially occluded by tree foliage near the crosswalk on the right side that needs position clarification.", "B": "Drone shaded near the small tree at the center of the intersection that requires lighting adjustment for clear detection.", "C": "Drone hovering above the sidewalk near the traffic signal that needs motion trajectory tracking.", "D": "Drone at low altitude near the pedestrian walkway with potential collision risks requiring obstacle mapping." }, "correct_answer": "A", "annotation_info": "", "image_description": "The marked regions indicate drones near trees and foliage in various parts of the scene. UAV1 captures one drone partially occluded by tree foliage near the crosswalk on the right side and another drone close to the center of the intersection under shadows.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_026.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_026.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_026.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_084", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_272", "question_type": "Object Matching", "question": "Which target in a different UAV's perspective corresponds to the pedestrian walking along the crosswalk in UAV2's aerial view?", "options": { "A": "The pedestrian now seen standing near a bench on the left side of the road in UAV3's aerial perspective", "B": "The pedestrian now crossing the street, visible between two buses in UAV1's field of view", "C": "The pedestrian seen walking closer to the intersection, partially occluded by trees in UAV3's perspective", "D": "The pedestrian now standing outside a storefront in UAV1\u2019s view near the same intersection" }, "correct_answer": "C", "annotation_info": "", "image_description": "UAV2's aerial view shows a pedestrian walking along the crosswalk in the middle of an urban intersection; UAV3\u2019s perspective displays the same pedestrian walking closer to the intersection, partially occluded by nearby trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_070", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_242", "question_type": "Why to Collaborate", "question": "What is the primary reason UAV3 should collaborate with other UAVs in this scenario?", "options": { "A": "To obtain clearer information about areas obstructed by trees in UAV3's view", "B": "To enhance the brightness in UAV3's captured image", "C": "To increase the detection accuracy of traffic light signals", "D": "To broaden the field of view to capture additional road segments" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV3\u2019s view demonstrates partial obstructions caused by thick tree foliage that blocks key areas, such as pedestrian crossing regions. Other UAVs have unobstructed perspectives that compensate for coverage gaps as indicated in the annotation about visibility limitations.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_070.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_070.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_070.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_089", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_259", "question_type": "Object Recognition", "question": "Based on the aerial perspective of this UAV image, what type of target is located near the pedestrian crossing beside the trees?", "options": { "A": "A stationary surveillance drone", "B": "A parked bicycle next to a pedestrian crossing", "C": "A moving vehicle on the road", "D": "A pedestrian standing in the shaded area" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a street scene, showing a park area with trees, a pedestrian crossing, and a parked bicycle visible near the crossing. No vehicles or pedestrians are located immediately next to the crossing.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_089.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_089.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_089.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_043", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_554", "question_type": "Object Matching", "question": "Which target in another UAV's aerial perspective corresponds to the hovering drone near the curved building in UAV2's view?", "options": { "A": "The same drone now seen hovering closer to the tall blue-glass building in UAV3's perspective", "B": "The same drone now positioned above the tree-lined pedestrian area in UAV1's aerial view", "C": "The same drone now seen near the rectangular office building on the opposite side of the plaza in UAV3's perspective", "D": "A different drone seen navigating between two trees in UAV1's aerial perspective" }, "correct_answer": "B", "annotation_info": "", "image_description": "In UAV2's aerial perspective, a drone can be seen hovering near the curved building at the plaza. UAV1's perspective shows the same drone hovering above a tree-lined pedestrian area nearby.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_043.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_043.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_043.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_078", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_164", "question_type": "Why to Collaborate", "question": "Why should UAV1 collaborate with other UAVs based on the images provided?", "options": { "A": "To compensate for occluded areas caused by structural elements of the building", "B": "To align GPS location data of the helipad across different UAV views", "C": "To reduce the computational load on UAV1 by distributing tasks among UAVs", "D": "To avoid potential interference from nearby UAVs in the airspace" }, "correct_answer": "A", "annotation_info": "", "image_description": "The images show a helipad on top of a tall building and surrounding urban environment. UAV1 captures the scene with parts of the building structure obscuring certain areas of interest. Views from other UAVs provide complementary perspectives to overcome occlusion and reveal additional details of the helipad and surroundings.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_078.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_078.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_078.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_010", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_10", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the pedestrian most likely positioned relative to the nearby road?", "options": { "A": "The pedestrian is on the sidewalk closer to the building than the road", "B": "The pedestrian is in the middle lane of the road walking against traffic", "C": "The pedestrian is under the canopy of trees near the sidewalk", "D": "The pedestrian is crossing the road at a marked intersection" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV's view shows a tree-lined road with adjacent sidewalks. The building is positioned on the left side of the image, with shadows of trees covering parts of the sidewalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_010.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_010.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_010.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_064", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_236", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drone in the marked regions?", "options": { "A": "Drone partially occluded by the dense foliage in the upper-left corner of the image that requires movement continuity analysis", "B": "Drone under shadows near the center-left area of the image needing precise position tracking", "C": "Drone with overlapping visual features near the tree close to the crosswalk that requires feature extraction", "D": "Drone near the traffic light in the lower-right area of the image that needs velocity estimation" }, "correct_answer": "A", "annotation_info": "", "image_description": "In UAV1's view, the images highlight marked regions including a drone partially occluded by dense foliage in the upper-left corner, and another drone under shadows in the center-left area. These instances create challenges in position clarity and require precise information sharing for effective multi-UAV tracking.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_064.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_064.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_064.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_084", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_169", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the pedestrian walking on the rooftop helipad in UAV2's perspective?", "options": { "A": "The pedestrian now seen resting near the edge of the helipad in UAV1's perspective", "B": "The pedestrian now walking towards the elevator entrance visible in UAV3's perspective", "C": "The pedestrian now climbing the stairwell connected to the rooftop structure in UAV3's aerial view", "D": "The pedestrian now walking on ground level near a green field in UAV3's perspective" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV2's aerial view shows a pedestrian walking across the rooftop helipad. In UAV3's perspective, the same pedestrian is seen walking towards the elevator entrance located on the rooftop.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_084.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_084.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_084.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_023", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_23", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking bicycles and vehicles in the scene?", "options": { "A": "Highly usable due to clear visibility and minimal obstructions", "B": "Moderately usable, with partial target occlusions from trees", "C": "Low usability due to significant occlusions and shadows", "D": "Not usable because the targets are completely obscured" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a street scene from a UAV perspective with several trees partially occluding the view. A vehicle is visible in the background, while a bicycle is seen on the pavement. Shadows cast by the trees cover parts of the road and pavement, moderately impacting the detection and tracking of targets.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_023.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_023.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_023.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_045", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_131", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "2", "B": "3", "C": "0", "D": "1" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_045.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_045.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_045.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_015", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_101", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV1", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_037", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_456", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which element on the paved area is consistent with vehicle recognition?", "options": { "A": "A parked vehicle near the trees", "B": "A compact car visible near the shadowed region", "C": "A stationary motorbike located on the paved surface", "D": "A pedestrian walking along the white pathway" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures a landscaped park and paved area, showing scattered trees and shadows. A vehicle-like object resembling a motorbike is located on the paved surface, easily distinguishable from other elements.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_037.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_037.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_037.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_030", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_451", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting pedestrians and bicycles in multi-UAV views?", "options": { "A": "Highly suitable due to clear paths and minimal occlusion", "B": "Moderately suitable with partial occlusion from vegetation", "C": "Low suitability due to heavy shadows and dense obstructions", "D": "Unsuitable due to the absence of clear visibility of the ground" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a wide area with open ground and vegetation. Pedestrian and bicycle detection may face challenges due to partial occlusion caused by trees and shrubs, as well as shadows in certain areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_030.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_030.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_030.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_026", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_347", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the spatial relationship between the row of trees and the road within the field of view?", "options": { "A": "The trees are located parallel to the road on the side closest to the buildings", "B": "The trees are positioned in the center median dividing the lanes of the road", "C": "The trees are positioned perpendicular to the road with gaps between each line of trees", "D": "The trees are scattered across the road, obstructing the traffic lanes" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV aerial perspective shows a row of well-aligned trees positioned parallel to the road, situated closest to the buildings in an urban environment.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_026.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_026.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_026.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_091", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_512", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone in the upper-left corner of the scene, partially occluded by trees, requiring position clarification", "B": "Drone near the center of the grassy area under direct sunlight, requiring lighting adjustments for detection", "C": "Drone moving alongside the geometrically patterned walkway on the right side, needing trajectory prediction", "D": "Drone hovering near the bottom edge of the shadowed area, requiring precise altitude mapping" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region near the upper-left corner, obscured by dense tree foliage. The other UAV perspectives indicate clearer views but require coordinated data sharing to clarify position and movement details.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_091.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_091.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_091.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_042", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_214", "question_type": "Why to Collaborate", "question": "Why should UAV2 collaborate with other UAVs for this specific scene?", "options": { "A": "To compensate for brightness imbalance causing limited visibility in some regions", "B": "To expand the coverage area to detect more drones", "C": "To synchronize flight paths for efficient drone tracking", "D": "To reduce computational load by sharing data processing tasks" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The current scene captured by UAV2 has limited visibility due to brightness imbalance and occlusion from tree branches, while other UAVs provide clearer and more balanced views to compensate for these deficiencies. The annotation suggests this collaboration is necessary to address blur, brightness distortion, and other visibility constraints.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_042.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_042.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_042.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_080", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_80", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "0", "B": "2", "C": "1", "D": "4" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_080.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_080.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_080.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_093", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_605", "question_type": "Why to Collaborate", "question": "What is the primary reason UAV2 should collaborate with other UAVs in this scenario?", "options": { "A": "To compensate for blurred and low-quality images captured by UAV2", "B": "To improve field of view for avoiding collisions", "C": "To reduce bandwidth usage in transmitting data", "D": "To adjust for altitude differences in UAV deployments" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV2 captures blurry regions of the scene with brightness imbalance and reduced visibility, as visible in trees and ground shadows. Other UAVs provide clearer, well-balanced images, as seen in regions covered in UAV1 and UAV3 views. The annotation mentions these quality issues as reasons for collaboration to enhance overall perception.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_093.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_093.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_093.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_308", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_296", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone stationary on the rooftop of the building in the center of the frame that requires precise location and altitude verification", "B": "Drone moving horizontally across the urban background near the upper-right area that needs trajectory tracking", "C": "Drone positioned above the rooftop observed in shadows in the center of the image requiring lighting compensation", "D": "Drone flying over the street between the buildings near the bottom edge that requires collision avoidance information" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 shows a drone in the marked region above the building rooftop in the center of the frame at position (62.5%, 47.7%) with size 4.4%x3.3%. The drone is stationary and requires detailed altitude and location information for collaboration.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_308.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_308.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_308.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_036", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_457", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "C", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_036.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_036.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_036.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_041", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_363", "question_type": "Causal Assessment", "question": "What is the primary cause of difficulty in detecting vehicles and pedestrians in this image?", "options": { "A": "Overexposure due to bright sunlight directly on the targets", "B": "Occlusion of targets caused by trees along the road", "C": "Low resolution of the UAV camera", "D": "Blur due to fast movement of both the UAV and targets" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a scene where the road is lined with dense trees, which partially occlude the view of the road and potential targets such as vehicles and pedestrians. This occlusion, caused by the arrangement of trees, hinders clear target detection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_041.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_041.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_041.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_003", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_89", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "4", "B": "3", "C": "1", "D": "2" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_022", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_108", "question_type": "Object Matching", "question": "The drone positioned on the helipad in UAV1's close aerial view corresponds to which target in another UAV's perspective?", "options": { "A": "The drone now seen flying slightly to the right of the building's roof in UAV2's perspective", "B": "The drone hovering above a smaller building near the parking lot in UAV3's view", "C": "The drone now seen resting on a rooftop near the park in UAV2's viewpoint", "D": "The drone flying low over the park in UAV3's aerial perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's close aerial view shows a drone positioned on the helipad of the central skyscraper. UAV2's perspective shows the same drone flying slightly to the right of the building's roof.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_022.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_022.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_022.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_064", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_572", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how is the UAV's drone positioned relative to the shaded and open areas in the scene?", "options": { "A": "The drone is hovering directly under the tree canopy in the shaded portion", "B": "The drone is positioned in the open plaza, away from any trees or shaded areas", "C": "The drone is partially under the shadow of a building while on the plaza", "D": "The drone is directly above the road, outside the scope of the plaza" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures a drone positioned in the open area of a plaza surrounded by trees that cast shadows, with nearby buildings creating distinct shaded zones in urban surroundings.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_064.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_064.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_064.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_003", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_3", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what challenge might affect pedestrian detection in this scene?", "options": { "A": "Pedestrians are covered by tree shadows making them harder to identify.", "B": "The road markings obscure visibility of pedestrians on the sidewalks.", "C": "Pedestrians are crossing the road at multiple points without traffic signs.", "D": "No pedestrians are present in this scene, only stationary vehicles." }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an aerial view of a road surrounded by dense trees casting shadows, which could obscure visibility of pedestrians walking along the sidewalk or under the trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_079", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_79", "question_type": "Usability Assessment", "question": "What is the main factor reducing the usability of this image for detecting pedestrians and bicycles?", "options": { "A": "Excessive motion blur causing unclear outlines", "B": "Severe occlusion by dense vegetation", "C": "Insufficient lighting leading to low contrast", "D": "Presence of reflective surfaces creating visual noise" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image primarily shows a road and surrounding sidewalks occluded by dense foliage from trees. This creates significant visual obstruction, particularly for targets like pedestrians and bicycles. Open road segments are minimally visible, while areas shaded by trees obscure most of the pathways and detection regions. Lighting is sufficient, and no indications of motion blur or reflective surfaces are apparent.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_079.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_079.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_079.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_590", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_320", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drone in the marked region near the top-right corner of the image?", "options": { "A": "Drone flying near the building edge at the top-right corner that requires position confirmation", "B": "Drone occluded by a rooftop structure in the upper-right corner that needs trajectory clarification", "C": "Drone blending into the light color of the background sky near the top-right that requires visibility enhancement", "D": "Drone hovering above the intersection near the upper-right area that requires altitude verification" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 shows a drone in the marked region near the top-right corner of the image, partially hovering near the edge of a tall building. The drone needs position information to assist in tracking across UAV views.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_590.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_590.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_590.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_032", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_204", "question_type": "Scene Description", "question": "Which target object is most prominently monitored by UAV3 in this scene?", "options": { "A": "Pedestrians crossing at the intersection", "B": "A drone hovering near the tree canopy", "C": "A stationary vehicle on the road", "D": "Bicycles waiting at the crosswalk" }, "correct_answer": "B", "annotation_info": "Perception degradation: Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 74.96124031007751, 'y': 56.22739018087856, 'width': 2.480620155038764, 'height': 5.236864771748493, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene captured by UAV3 shows pedestrians crossing the road at a crosswalk with nearby trees and drones visible in the vicinity. No vehicles or bicycles are present prominently in the monitored zone.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_032.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_032.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_032.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_003", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_515", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV1", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_073", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_73", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV3", "B": "None (no suitable collaboration partner)", "C": "UAV2", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_073.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_073.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_073.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_063", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_235", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "3", "B": "2", "C": "1", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_063.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_063.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_063.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_349", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_300", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV1", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_349.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_349.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_349.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_086", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_257", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the drone partially obscured by the tree leaves in UAV2's perspective?", "options": { "A": "The drone now fully visible near the corner of the crosswalk in UAV1's perspective.", "B": "The drone seen hovering above the middle lane in UAV3's aerial view.", "C": "The pedestrian seen moving away from the crosswalk in UAV2's perspective.", "D": "The drone completely hidden behind the building shadow in UAV3's aerial view." }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone partially obscured by the leaves of a tree near the curved sidewalk; UAV1's perspective reveals the same drone now fully visible near the corner of the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_534", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_315", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how is the black UAV positioned relative to the cluster of buildings near the center of the image?", "options": { "A": "The black UAV is flying above the tallest building in the cluster", "B": "The black UAV is hovering next to the tallest building, closer to the road", "C": "The black UAV is situated on the building farthest away from the road", "D": "The black UAV is flying above the smaller buildings to the left of the cluster" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of a cityscape. A black UAV hovers adjacent to tall buildings near the center, closer to the roadway that runs through the image.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_534.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_534.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_534.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_002_frame_032", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_118", "question_type": "Scene Comparison", "question": "What is the primary object of interest for UAV2 in this scene?", "options": { "A": "A drone operating near the helipad", "B": "Vehicles on the roads below", "C": "Pedestrians near the base of the building", "D": "Bicycles on the pathways in the park" }, "correct_answer": "A", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 51.605709071514546, 'y': 37.376984923227724, 'width': 0.9002349756157948, 'height': 1.4307698409751985, 'rotation': 339.7343025290527, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 51.55731604592629, 'y': 37.617020485129245, 'width': 0.9510189943864519, 'height': 1.001538888682641, 'rotation': 333.43494882292146, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The scene depicts the rooftop of a high-rise building with a helipad prominently visible. A drone is seen hovering near the helipad, while the background includes roads with light traffic and green park areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_032.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_032.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_032.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_031", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_116", "question_type": "Object Matching", "question": "The drone hovering near the helipad in UAV2's aerial view corresponds to which target in another UAV's perspective?", "options": { "A": "The drone seen landing on the helipad in UAV1's perspective", "B": "The drone seen parked on the rooftop adjacent to the helipad in UAV3's field of view", "C": "The drone now seen flying away towards the green park in UAV3's aerial view", "D": "The drone fully occluded by the building facade in UAV1\u2019s perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2\u2019s aerial view shows a small drone hovering near the helipad located atop a skyscraper. In UAV1\u2019s perspective, the same drone is visible landing on the center of the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_031.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_031.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_031.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_006_frame_003", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_424", "question_type": "Observing Posture", "question": "What is the most likely monitoring focus of UAV1 in this scene?", "options": { "A": "Identifying pedestrian movements among the trees", "B": "Tracking a drone hovering above the grassy area", "C": "Observing stationary vehicles parked near the open area", "D": "Analyzing the layout of pathways and open spaces" }, "correct_answer": "B", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 70.95292766934558, 'y': 26.94221201683888, 'width': 1.9517795637198503, 'height': 2.041076667942338, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 29.506314580941446, 'y': 28.37096568439852, 'width': 1.2629161882893243, 'height': 1.6328613343538727, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2\uff0cUAV3; Collaboration reasons: The target in the current image is under shadow and difficult to perceive, but the other perspective has proper lighting conditions for that target., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene shows an open area with paved sections and green spaces containing trees. A small drone is visible in the grassy area, which is a likely focus of UAV1's monitoring.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_020", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_192", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "1", "B": "5", "C": "4", "D": "3" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_020.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_020.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_020.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_087", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_599", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting and tracking bicycles and pedestrians?", "options": { "A": "Highly suitable due to clear visibility of pathways and open spaces", "B": "Moderately suitable with partial occlusion from tree shadows", "C": "Low suitability due to heavy occlusions from buildings and vegetation", "D": "Unsuitable due to severe lighting variance and lack of discernible objects" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image depicts an urban environment with wide open spaces, rows of trees, and shadows on the ground. The visibility of pathways is moderate as tree shadows partially occlude potential targets like pedestrians and bicycles. The distant roads and building facades remain unobstructed, but fine-grained details within the tree-covered areas are challenging to discern.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_087.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_087.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_087.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_044", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_556", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "0", "B": "5", "C": "3", "D": "2" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_044.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_044.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_044.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_067", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_487", "question_type": "Object Matching", "question": "The drone hovering over the paved platform near the center-left corner in UAV2's aerial view corresponds to which drone in another UAV's perspective?", "options": { "A": "The drone now hovering lower and more centrally positioned near the grassy area in UAV3's aerial view", "B": "The drone flying higher above the trees near the top-right section in UAV1's aerial view", "C": "The drone now seen flying outside the grassy area towards the paved walkway in UAV3's aerial view", "D": "The drone near the shadowy area, positioned almost directly above the grassy patch, as seen from UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone hovering over the paved platform near the center-left of the image. In UAV3's perspective, the same drone is hovering lower and closer to the grassy area. UAV1 provides other viewpoints of the vicinity but at different locations.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_067.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_067.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_067.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_028", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_28", "question_type": "Object Matching", "question": "Which target in another UAV perspective corresponds to the bicycle partially obscured by trees parallel to the road in UAV3's aerial view?", "options": { "A": "The bicycle seen fully on the pedestrian crossing near the intersection in UAV2's perspective", "B": "The drone hovering next to the road in UAV1's aerial view", "C": "The car driving on the opposite lane of the road in UAV2's field of view", "D": "The bicycle parked on the grass near the sidewalk in UAV1's aerial perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a bicycle partially obscured by trees next to the road; UAV2's perspective captures the same bicycle now fully visible on the pedestrian crossing near the intersection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_028.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_028.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_028.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_390", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_304", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV1", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_390.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_390.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_390.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_040", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_40", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "2", "B": "3", "C": "5", "D": "1" }, "correct_answer": "B", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_040.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_040.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_040.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_050", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_222", "question_type": "Causal Assessment", "question": "What is the primary cause of difficulty in detecting pedestrians and bicycles in this UAV1 scene?", "options": { "A": "Overexposure due to bright sunlight", "B": "Occlusion caused by dense tree foliage", "C": "Low resolution of the captured image", "D": "Motion blur from fast-moving targets" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows an urban intersection with trees whose dense foliage blocks visibility of sidewalk areas. This causes occlusion, making pedestrian and bicycle detection challenging.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_050.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_050.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_050.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_007_frame_025", "uav_id": "UAV3", "question_id": "Sim3_SC_UN_UAV3_537", "question_type": "Scene Description", "question": "Given the scene monitored by UAV3, what is the primary focus for immediate attention based on the visual layout and potential activity zones?", "options": { "A": "Monitoring pedestrian movements near the buildings", "B": "Surveillance for unexpected activity among the trees in the plaza", "C": "Tracking vehicle activity on the road beyond the plaza", "D": "Locating a drone for airspace management in the vicinity" }, "correct_answer": "D", "annotation_info": "Perception degradation: Object occlusion, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 64.98277841561423, 'y': 32.4531190202832, 'width': 1.0332950631458147, 'height': 1.0205383339711744, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 85.64867967853043, 'y': 38.78045669090445, 'width': 1.7221584385763435, 'height': 1.2246460007654107, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1\uff0cUAV2; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The UAV captures a wide view of a plaza surrounded by buildings and trees, with a visible road in the background where vehicles may require immediate monitoring due to potential traffic movement.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_025.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_025.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_025.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_002_frame_065", "uav_id": "UAV2", "question_id": "Sim3_CA_UAV2_151", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for drones in this image captured by UAV2?", "options": { "A": "High reflectivity from building surfaces causing light distortion", "B": "Occlusion by structural elements of the helipad", "C": "Low-resolution image capture affecting clarity", "D": "Excessive height of the image vantage point reducing target size" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV2 image shows a cityscape with a helipad on a rooftop. The high-glare effect from the building's reflective surfaces causes distortion, significantly reducing visibility of small targets such as drones.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_065.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_065.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_065.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_028", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_350", "question_type": "Usability Assessment", "question": "How usable is this image for detecting and tracking vehicles and pedestrians?", "options": { "A": "Highly usable due to clear visibility of roads and sidewalks", "B": "Moderately usable, but shadow patterns may obscure pedestrians", "C": "Low usability due to lack of identifiable vehicles or pedestrians", "D": "Not usable due to excessive distance and unclear features" }, "correct_answer": "C", "annotation_info": "", "image_description": "The image displays a scene with roads, trees, and buildings from an aerial view. However, no identifiable vehicles, pedestrians, bicycles, or drones are visible, affecting usability for detection and tracking tasks.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_028.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_028.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_028.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_015", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_101", "question_type": "Why to Collaborate", "question": "What is the primary reason UAV3 should collaborate with other UAVs based on its view and annotations?", "options": { "A": "To compensate for visibility limitations caused by brightness imbalance and small target appearance", "B": "To enhance field-of-view coverage across multiple UAV perspectives", "C": "To reduce energy consumption during flight operations", "D": "To detect objects across different altitudes" }, "correct_answer": "B", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV3 shows the target (helipad) appearing small and distant, with brightness imbalance affecting visibility. Other UAV perspectives provide larger and clearer images of the target. Annotations explain that collaboration can overcome these visual limitations and compensate for quality issues.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_015.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_015.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_015.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_036", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_208", "question_type": "Scene Comparison", "question": "What is the key difference in target detection capabilities between the UAV perspectives shown?", "options": { "A": "UAV1 detects two traffic lights, while the other UAVs fail to detect them.", "B": "UAV2 reveals a drone and additional ground-level targets that UAV1 misses due to occlusions.", "C": "UAV3 provides an overhead view, capturing both drones and traffic lights that UAV1 and UAV2 miss.", "D": "All three UAVs detect identical targets from different positions." }, "correct_answer": "C", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 59.30232558139535, 'y': 35.14211886304909, 'width': 1.3178294573643399, 'height': 2.7562446167097363, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 43.02325581395349, 'y': 31.834625322997418, 'width': 2.403100775193799, 'height': 2.756244616709729, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV1 provides a high-angle view of an intersection, primarily showing traffic lights. UAV2 includes a partial side view with a drone visible near a tree. UAV3 captures an overhead perspective, detecting both drones and traffic lights with broader coverage.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_036.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_036.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_036.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_071", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_582", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the pedestrian walking near the curved building in UAV2's aerial view?", "options": { "A": "The pedestrian now seen waiting under the shaded area near the trees in UAV3's perspective", "B": "The pedestrian now moving past a blue glass building in UAV1's aerial view", "C": "The pedestrian seen walking towards the intersection with no obstruction in UAV4's perspective", "D": "The pedestrian now standing near the main road adjacent to the square in UAV3's view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a pedestrian walking near the curved building. UAV3's aerial view shows the same pedestrian waiting under a shaded area near a cluster of trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_071.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_071.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_071.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_060", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_60", "question_type": "Object Grounding", "question": "Based on the UAV's aerial perspective, where is the small drone located relative to the road and surrounding environment?", "options": { "A": "The small drone is hovering over the center of the road surrounded by trees", "B": "The small drone is positioned above the sidewalk near the building", "C": "The small drone is navigating through the treetops on the left", "D": "The small drone is located at the intersection of two roads" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an aerial view of a road flanked by trees, with a small drone hovering centrally above the road. The shadows of the trees fall on the sidewalk adjacent to the road.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_060.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_060.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_060.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_096", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_607", "question_type": "Object Recognition", "question": "Based on the UAV's aerial perspective, which of the following observations best describes the presence of a pedestrian in this scene?", "options": { "A": "A pedestrian is walking in the open space between the trees.", "B": "A pedestrian is visible near the corner of the curved building.", "C": "No pedestrians are visible in this aerial view.", "D": "A pedestrian is standing near the shadow of a tree." }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures an open urban space with visible shadows of buildings and trees, a curved building on the right side, and no identifiable pedestrians in the area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_096.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_096.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_096.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_380", "uav_id": "UAV1", "question_id": "Sim3_what2col_UAV1_303", "question_type": "What to Collaborate", "question": "What specific object information should UAV1 share with other UAVs about the drones in the marked regions?", "options": { "A": "Drone partially occluded by the building facade in the upper-left corner of the image that requires position refinement.", "B": "Drone under contrasting shadows near the center of the image that may need lighting consistency for accurate tracking.", "C": "Drone flying closely in front of a large building edge on the left side, requiring trajectory analysis to avoid collision.", "D": "Drone blending with the surrounding urban background near the upper-right area, needing background separation for detection." }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 captures drones in the marked regions, with one partially occluded by a building facade in the upper-left corner and another under contrasting shadows near the center, presenting challenges in position and tracking details.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_380.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_380.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_380.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_022", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_22", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the black drone positioned relative to the zebra crossing?", "options": { "A": "The black drone is hovering directly over the zebra crossing", "B": "The black drone is positioned behind the zebra crossing over the road", "C": "The black drone is near the sidewalk, away from the zebra crossing", "D": "The black drone is located beyond the intersection, away from the zebra crossing" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a scene with a black drone hovering directly above a zebra crossing on a road surrounded by trees and adjacent walkways.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_022.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_022.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_022.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_014", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_186", "question_type": "Causal Assessment", "question": "What is the primary cause of detection difficulty for pedestrians and bicycles in this image?", "options": { "A": "Overexposure due to direct sunlight", "B": "Partial occlusion caused by vegetation", "C": "Blur from movement of targets", "D": "Low resolution due to altitude of the UAV" }, "correct_answer": "B", "annotation_info": "", "image_description": "In the image, key targets such as pedestrians and bicycles are partially occluded by dense vegetation, especially near shaded areas beneath trees. This affects their detectability.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_014.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_014.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_014.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_027", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_199", "question_type": "Usability Assessment", "question": "How suitable is this image for detecting and tracking bicycles and pedestrians using UAV2 perspective?", "options": { "A": "Highly suitable due to unobstructed view of targets and clear resolution", "B": "Moderately suitable as some targets are partially occluded by trees", "C": "Low suitability due to significant occlusions and shadowing of targets", "D": "Unsuitable because most targets are completely obscured" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV2 image captures an urban area with multiple trees providing partial occlusion of objects such as bicycles and pedestrians. Shadows and branches slightly affect visibility. A bicycle is visible near a tree and could be detected, but pedestrian visibility is more limited.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_027.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_027.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_027.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_056", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_566", "question_type": "Object Matching", "question": "Which drone visible from another UAV's perspective corresponds to the drone flying above the center of the plaza in UAV3's aerial view?", "options": { "A": "The drone seen near the curved building, close to the row of aligned trees in UAV1's perspective", "B": "The drone hovering near the edge of the tall blue building, casting a shadow on the ground in UAV2's aerial view", "C": "The drone moving past the tree in the top-left corner of the plaza, aligned parallel to the main road in UAV2's perspective", "D": "The drone stationary near the ground by the tall glass tower on the far-right side in UAV1's view" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3's aerial view shows a drone hovering above the center of the plaza, surrounded by trees and urban buildings; UAV2's perspective shows the same drone near the edge of the blue building, with its shadow visible on the ground.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_056.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_056.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_056.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_048", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_559", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the small drone located relative to the tall blue building?", "options": { "A": "The small drone is east of the blue building in an open area", "B": "The small drone is west of the blue building near the line of trees", "C": "The small drone is directly south of the blue building in the paved area", "D": "The small drone is north of the blue building next to the sidewalk" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV's aerial view shows a tall blue building near the center, surrounded by trees and open spaces. A small drone is visible west of the blue building, near a line of trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_048.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_048.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_048.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_058", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_230", "question_type": "Why to Collaborate", "question": "What is the primary reason UAV1 should collaborate with other UAVs in this scene?", "options": { "A": "To compensate for limited visibility caused by obstruction from trees in UAV1's perspective", "B": "To reduce processing load by eliminating redundant UAV usage", "C": "To capture wider traffic dynamics across intersections", "D": "To synchronize movement time stamps for object tracking in the region" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image captured by UAV1 is partially obstructed by dense trees, limiting visibility of objects and areas in the intersection. The images from other UAVs show clearer perspectives of the scene, allowing better visualization of the target area. The annotation specifies visibility issues due to obstructions and indicates that collaboration compensates for these limitations.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_058.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_058.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_058.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_033", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_545", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_033.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_033.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_033.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_056", "uav_id": "UAV1", "question_id": "Sim3_QA_UAV1_477", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV1?", "options": { "A": "4", "B": "1", "C": "2", "D": "5" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_056.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_056.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_056.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_019", "uav_id": "UAV3", "question_id": "Sim3_why2col_UAV3_341", "question_type": "Why to Collaborate", "question": "Why does UAV3 need to collaborate with other UAVs for effective multi-view perception?", "options": { "A": "To compensate for the low image quality and information loss in UAV3's view", "B": "To ensure synchronization of movements between UAVs", "C": "To cover a larger area of the urban environment", "D": "To improve processing efficiency by distributing computational load" }, "correct_answer": "A", "annotation_info": "The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "UAV3 displays reduced image clarity caused by brightness imbalance and potential device malfunction, as outlined in the annotation. Other UAVs provide high-quality visuals of the same scene, compensating for the distorted image and increasing perception accuracy.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_019.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_019.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_019.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_042", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_213", "question_type": "Object Matching", "question": "The drone hovering near the trees on the curved pavement in UAV2's perspective corresponds to which target in another UAV's aerial view?", "options": { "A": "The drone now seen from directly above, hovering near the crosswalk in UAV3's perspective", "B": "The drone now seen on the opposite side of the road, moving towards the crosswalk in UAV1's perspective", "C": "The drone now visible on the grassy median between lanes in UAV3's aerial view", "D": "The drone now seen inside a parking lot near a tree in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone hovering near the trees on the curved pavement close to a crosswalk; UAV3's perspective shows the same drone from directly above, positioned near the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_042.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_042.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_042.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_009", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_430", "question_type": "Usability Assessment", "question": "How is the image's usability affected for pedestrian and bicycle detection in the shadowed regions?", "options": { "A": "Shadowed regions may completely obscure targets, making them undetectable.", "B": "Shadowed regions might reduce visibility but still allow partial detection of targets.", "C": "The shadowed areas improve contrast, aiding in better detection of targets.", "D": "There is no impact of shadowed regions on target detection usability." }, "correct_answer": "B", "annotation_info": "", "image_description": "The image captures a UAV view of an outdoor area with green foliage and paved surfaces. Part of the scene lies in direct sunlight, while other areas are in shadow. The shadows reduce the visibility of small objects such as pedestrians or bicycles and may affect usability for target identification. No vehicles or drones are visible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_009.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_009.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_009.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_097", "uav_id": "UAV1", "question_id": "Sim3_UA_UAV1_419", "question_type": "Usability Assessment", "question": "Which aspect of this image has the greatest impact on the usability for detecting pedestrians and bicycles?", "options": { "A": "The presence of trees partially occluding the sidewalk", "B": "The high clarity of road markings for vehicle detection", "C": "The lack of motion cues for tracking drones", "D": "The shadows cast by structures on the paved area" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image shows a city street with a sidewalk partially obscured by trees and shadows. The road markings are clear, making it suitable for vehicle detection. There are no visible pedestrians or bicycles, and shadows or obstacles might impede detection in these regions.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_097.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_097.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_097.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_002", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_513", "question_type": "Object Matching", "question": "Which target in another UAV's aerial view corresponds to the drone hovering near the curved building on the right side in UAV2's perspective?", "options": { "A": "The drone now hovering near the blue building's corner in UAV3's aerial view.", "B": "The drone seen moving across the open plaza in UAV1's perspective.", "C": "The drone now flying above the trees near the central walkway in UAV3's perspective.", "D": "The drone resting on the rooftop of a nearby rectangular building in UAV1's aerial view." }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a drone hovering near the curved building on the right side. UAV3's aerial perspective displays the same drone near the blue building's corner.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_002.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_002.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_002.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_070", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_582", "question_type": "Causal Assessment", "question": "What is the primary cause affecting the detection of pedestrians and bicycles in this image?", "options": { "A": "Overexposure due to direct sunlight", "B": "Occlusion by nearby trees and foliage", "C": "Motion blur caused by fast-moving UAV", "D": "Reduced resolution from high camera altitude" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows multiple trees with dense foliage obscuring areas that pedestrians and bicycles may occupy, particularly near the road and sidewalk. This occlusion likely limits the visibility and detection of these targets.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_070.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_070.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_070.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_004_frame_577", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_319", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region near the curved building and intersection?", "options": { "A": "Drone occluded by urban reflections on the curved building in the upper-left corner that needs position confirmation", "B": "Drone flying near the intersection with high traffic flow in the center that requires trajectory prediction", "C": "Drone partially obstructed by shadows cast by the skyscraper near the right edge that needs lighting adjustment", "D": "Drone flying alongside other drones near the center of the image that requires formation information" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV3 shows a drone in the marked region at position (31.7%, 48.5%) with size 6.2%x3.3% near the curved building and intersection, adjacent to high traffic flow. Details regarding the drone's trajectory are critical for shared perception.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_577.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_577.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_577.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_086", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_507", "question_type": "Why to Collaborate", "question": "Why should UAV2 collaborate with other UAVs based on visibility limitations in the scene?", "options": { "A": "To capture the target that appears larger and more visible in other UAV perspectives", "B": "To enhance the alignment of objects in shadowed regions", "C": "To improve light normalization across the area for better image quality", "D": "To reduce the chances of information being lost across multiple UAV views" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV2 captures a scene where the target is distant and appears small, with shadow covering parts of the region. Other UAVs show the target larger and with clearer visibility. Annotation indicates visibility improvement at position (45.2%, 34.8%) and size 5.2%x4.3%.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_086.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_086.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_086.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_004_frame_074", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_272", "question_type": "Scene Comparison", "question": "What spatial relationship between the buildings and the monitored road does UAV2 focus on in this scene?", "options": { "A": "The buildings are evenly spaced on both sides of the road, providing clear visibility for UAV monitoring.", "B": "The buildings are clustered on one side of the road, limiting the UAV's ability to track objects on the opposite side.", "C": "The buildings are positioned close to the road, creating blind spots for UAV monitoring pedestrian activity.", "D": "The buildings are distant from the road and irrelevant to the UAV's monitoring priorities." }, "correct_answer": "A", "annotation_info": "Perception issues: Occluded; Perception degradation: Object occlusion, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 61.957379636937645, 'y': 48.54862755415242, 'width': 6.156274664561963, 'height': 3.367534859247563, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 94.55406471981057, 'y': 49.10988336402701, 'width': 5.445935280189431, 'height': 5.331930193808645, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The current image suffers from object occlusion, while the other perspective has a complete view of the object and can provide complementary information., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene captures a symmetrical urban layout with tall buildings evenly spaced on both sides of a wide road. The UAV appears to focus on monitoring vehicle movement within the clear and open road space, flanked by buildings with vegetation lining the sidewalks.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_074.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_074.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_074.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_065", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_150", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, how is the helipad positioned relative to the surrounding buildings?", "options": { "A": "The helipad is situated at ground level in the center of an open park", "B": "The helipad is positioned on top of a tall skyscraper overlooking the city", "C": "The helipad is located at the base of multiple high-rise buildings", "D": "The helipad is elevated on a structure directly beside the residential area" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of a helipad situated on top of a skyscraper, surrounded by high-rise buildings and urban landscapes.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_065.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_065.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_065.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_073", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_159", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked regions above the helipad?", "options": { "A": "Drone hovering near the center of the helipad that requires real-time position sharing for collision avoidance", "B": "Drone flying close to the edge of the helipad near the building that needs trajectory prediction against possible obstructions", "C": "Drone with shadow interference above the helipad that requires lighting adjustment for better visibility", "D": "Drone blending with the green background of the helipad that requires visual contrast enhancement" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 captures a drone in the marked regions above the helipad at position near the center, requiring clarification on its hovering position to avoid potential interference or collisions.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_073.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_073.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_073.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_079", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_500", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "2", "B": "1", "C": "5", "D": "0" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_079.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_079.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_079.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_002_frame_081", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_167", "question_type": "Observing Posture", "question": "What is the spatial relationship of the drone relative to the helipad in this scene?", "options": { "A": "The drone is hovering above the center of the helipad.", "B": "The drone is positioned near the edge of the helipad.", "C": "The drone is flying outside the perimeter of the helipad.", "D": "The drone has landed directly on the helipad." }, "correct_answer": "B", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 47.35506915587958, 'y': 33.545566959157135, 'width': 0.7981567294696337, 'height': 1.307176264809793, 'rotation': 331.23235066115694, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 47.382989947439114, 'y': 33.78434103343654, 'width': 0.9614730963604398, 'height': 1.478068017536366, 'rotation': 320.2395436854308, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1\uff0cUAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The scene features a rooftop helipad with a green circular design marked 'H' and 'OBL'. A drone is observed hovering near the edge of the helipad. The surrounding area includes tall buildings and streets laid out in a cityscape.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_081.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_081.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_081.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_039", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_359", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the small gray SUV parked under the canopy in UAV3\u2019s aerial view?", "options": { "A": "The gray SUV now seen from the side, parked near the edge of the building in UAV2\u2019s aerial perspective", "B": "The white van seen parked next to the large building in UAV1\u2019s aerial view", "C": "The gray SUV now seen from behind, moving away from the canopy towards the main road in UAV1\u2019s perspective", "D": "The black sedan parked near the trees, visible along the road in UAV2's aerial view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3\u2019s aerial view shows a small gray SUV parked under the canopy near the large building; UAV2\u2019s perspective shows the same gray SUV from the side, parked near the edge of the building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_039.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_039.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_039.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_250", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_290", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "5", "B": "9", "C": "6", "D": "8" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_250.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_250.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_250.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_004_frame_199", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_285", "question_type": "Scene Description", "question": "Based on UAV2's field of view, what is the primary monitoring priority in terms of target movement patterns?", "options": { "A": "Tracking the movement of the drones hovering above the buildings", "B": "Analyzing pedestrian flow along the sidewalks and open areas", "C": "Monitoring vehicles traveling along the central road for traffic violations", "D": "Observing bicycle movements through designated bike lanes" }, "correct_answer": "A", "annotation_info": "Perception issues: Occluded; Perception degradation: Object occlusion, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 61.87845303867403, 'y': 47.98737174427782, 'width': 6.314127861089197, 'height': 4.2094185740594625, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 94.55406471981057, 'y': 47.98737174427782, 'width': 5.209155485398583, 'height': 6.735069718495133, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The current image suffers from object occlusion, while the other perspective has a complete view of the object and can provide complementary information., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image shows an urban environment with a central main road flanked by high-rise buildings and trees. The UAVs are positioned above buildings, and the focus is primarily on vehicles traveling along the road, indicating a traffic monitoring priority.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_199.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_199.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_199.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_045", "uav_id": "UAV1", "question_id": "Sim3_OR_UAV1_556", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which object is identifiable as a potential pedestrian in this image?", "options": { "A": "A small dark object near the building edges", "B": "A shadowy figure near the trees", "C": "No pedestrians are visible from this vantage point", "D": "An unmanned drone in the open courtyard" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures a wide aerial view of buildings, trees, and an open courtyard. A stationary unmanned drone is visible in the courtyard, but no pedestrians can be identified in this urban scene.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_045.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_045.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_045.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_095", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_417", "question_type": "Scene Comparison", "question": "Based on the current UAV1 view, which target movement pattern is most likely absent in this scene?", "options": { "A": "Vehicles moving along the road", "B": "Pedestrians crossing the road", "C": "Bicycles following dedicated lanes", "D": "Drones hovering above trees" }, "correct_answer": "C", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 52.79069767441861, 'y': 48.372093023255815, 'width': 1.4728682170542555, 'height': 1.6537467700258404, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene shows an urban area with roads bordered by trees, large buildings, and an open plaza. There are no visible pedestrians, bicycles, or drones, but road lanes offer potential vehicle activity.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_095.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_095.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_095.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_036", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_36", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drones in the marked regions?", "options": { "A": "Drone occluded by tree branches in the upper-left corner of the image that needs position clarification", "B": "Drone detected near the pedestrian area at the bottom edge that requires movement tracking", "C": "Drone fully visible and flying above the road in the center under shadows that needs trajectory prediction", "D": "Drone hidden behind dense foliage in the upper-right area that requires visibility enhancement" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 captures a drone visually obstructed by dense tree branches in the upper-left corner of the image, creating ambiguity in position data. UAV3 partially reveals the same drone above the central road under shadows.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_036.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_036.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_036.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_057", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_57", "question_type": "Why to Collaborate", "question": "Why should UAV2 collaborate with other UAVs in this scenario?", "options": { "A": "To overcome the distant view of the target and obtain clearer visual details", "B": "To reduce image distortion caused by UAV movement", "C": "To avoid redundant data collection over the same area", "D": "To synchronize pathways and movement direction of UAVs" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV2 captures a scene where the target appears small and distant, making it difficult to discern details. Other UAV views reveal the target larger and more visible, improving identification. Annotation highlights limited target visibility at position (48.2%, 61.3%) with size 4.8%x3.2%.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_057.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_057.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_057.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_004_frame_230", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_288", "question_type": "Causal Assessment", "question": "What is the primary cause of potential difficulties in detecting vehicles and pedestrians in this image?", "options": { "A": "Excessive blur caused by fast camera movement", "B": "Occlusion by surrounding buildings and tree lines", "C": "Overexposure from harsh sunlight reflections", "D": "Low resolution due to high-altitude image capture" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows a dense urban environment with tall buildings and tree lines along the roads, partially occluding vehicles and pedestrians, which could hinder their detection.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_230.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_230.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_230.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_003", "uav_id": "UAV3", "question_id": "Sim3_OC_UAV3_515", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV3's field of view?", "options": { "A": "3", "B": "1", "C": "4", "D": "6" }, "correct_answer": "A", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_005_frame_040", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_362", "question_type": "Scene Comparison", "question": "How do the target types visible in UAV1's perspective differ from those in UAV2 and UAV3?", "options": { "A": "UAV1 detects both the pavilion and nearby trees, while UAV2 and UAV3 primarily focus on trees.", "B": "UAV1 shows the pavilion structure but not the surrounding trees as UAV2 and UAV3 do.", "C": "All three UAVs detect only the pavilion and omit all surrounding objects.", "D": "Only UAV3 captures both the pavilion and a broader array of objects, including trees and roads." }, "correct_answer": "D", "annotation_info": "Perception degradation: Out of FoV; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration partner: UAV2; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 shows the pavilion structure and trees from a close perspective; UAV2 captures the pavilion from a side view with trees along the road; UAV3 gives an overhead view of the pavilion, trees, and road layout, providing a more comprehensive spatial overview.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_040.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_040.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_040.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_023", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_534", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, what is the most likely reason a pedestrian is not clearly visible in this urban scene?", "options": { "A": "The pedestrian is obscured by the shadows of the trees.", "B": "The UAV's altitude is too high to capture details of pedestrians.", "C": "Pedestrians are walking behind the curved building, out of the UAV's line of sight.", "D": "The UAV is focused on detecting vehicles and ignores pedestrian data entirely." }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures an aerial view of an urban area with buildings, trees, and open spaces. The curved building design may obscure pedestrians walking nearby.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_023.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_023.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_023.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_003_frame_002", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_174", "question_type": "Observing Posture", "question": "What is the spatial relationship between the traffic lights and the pedestrian walkway in this scene based on UAV1's perspective?", "options": { "A": "The traffic lights are positioned directly next to the pedestrian walkway, controlling both sides.", "B": "The traffic lights are situated at the far edge of the pedestrian walkway, only controlling one side.", "C": "The traffic lights are located outside the monitoring range of the pedestrian walkway.", "D": "The traffic lights are positioned in the middle of a road intersection away from the walkways." }, "correct_answer": "A", "annotation_info": "Perception issues: Too small; Perception degradation: Small target / Long distance, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 57.984496124031004, 'y': 31.28337639965547, 'width': 1.860465116279059, 'height': 2.894056847545219, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 49.30232558139535, 'y': 26.59776055124892, 'width': 1.4728682170542626, 'height': 2.204995693367792, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV3; Collaboration reasons: The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene shows a road intersection with visible pedestrian walkways and traffic lights positioned directly next to them, controlling traffic flow on both sides.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_002.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_002.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_002.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_073", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_245", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone hidden within dense foliage near the center-right sidewalk that requires precise localization", "B": "Drone flying under shadows of trees near the middle crosswalk that needs lighting adjustment", "C": "Drone in close proximity to pedestrians near the lower-left crosswalk that requires movement prediction", "D": "Drone partially obscured by tree branches in the upper-right corner that needs obstacle clearance mapping" }, "correct_answer": "A", "annotation_info": "", "image_description": "The marked region in UAV2's view highlights a drone that is significantly hidden within dense tree foliage near the center-right sidewalk, requiring precise localization to effectively track its position.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_073.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_073.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_073.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_097", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_419", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_097.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_097.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_097.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_071", "uav_id": "UAV3", "question_id": "Sim3_UA_UAV3_583", "question_type": "Usability Assessment", "question": "How usable is this image for detecting stationary drones, vehicles, and pedestrians?", "options": { "A": "Highly usable due to clear visibility and minimal occlusion", "B": "Moderately usable due to partial occlusion from trees", "C": "Low usability due to extensive occlusion and shadow interference", "D": "Not usable due to poor image resolution and high occlusion" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image provides moderate usability for detecting stationary drones, vehicles, and pedestrians. While the open plaza offers clear visibility in some areas, the trees cast shadows and partially occlude potential targets, especially near the edges of the image.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_071.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_071.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_071.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_007_frame_064", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_576", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for drones in this image?", "options": { "A": "Overexposure due to uneven lighting", "B": "Partial occlusion by trees", "C": "Low resolution due to excessive distance", "D": "Motion blur caused by moving targets" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image depicts an urban setting with trees casting shadows and partially occluding the area below. A drone is visible on the lower side of the image, but some parts are obscured due to tree branches, which reduce direct visibility.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_064.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_064.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_064.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_018", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_530", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drones in the multiple marked regions?", "options": { "A": "Drone near the curved building on the right side partially occluded by shadows that needs trajectory clarification", "B": "Drone emerging from behind trees in the upper-left corner that requires height tracking", "C": "Drone in the center with complex ground textures underneath requiring precise position mapping", "D": "Drone in shadows near the bottom edge of the image that requires lighting correction" }, "correct_answer": "A", "annotation_info": "", "image_description": "The marked regions from UAV3 include a drone near the curved building on the right side partially occluded by shadows, a drone emerging from behind trees in the upper-left corner, and another drone in the center with complex ground textures underneath. UAV3 requires collaboration to provide detailed trajectories and clarify object visibility issues.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_018.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_018.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_018.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_093", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_273", "question_type": "Object Matching", "question": "In the aerial perspective of another drone, which target corresponds to the UAV in the upper left corner in the perspective of UAV1?", "options": { "A": "From the aerial perspective of UAV3, the UAV near the blue building on the left side", "B": "From the perspective of UAV2, the occluded UAV", "C": "The UAV on the right side of the image in the aerial shot taken by UAV3", "D": "UAV that is not obstructed from the perspective of UAV2" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view displays a pedestrian walking on the left sidewalk towards the intersection; UAV3's perspective shows the same pedestrian now waiting at the intersection near the crosswalk.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_093.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_093.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_093.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_016", "uav_id": "UAV3", "question_id": "Sim3_OR_UAV3_336", "question_type": "Object Recognition", "question": "From the UAV's aerial perspective, which target is most likely to be hiding under the structure with a flat roof?", "options": { "A": "A parked vehicle", "B": "A surveillance drone", "C": "A pedestrian taking shelter", "D": "A stationary bus" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of an urban space with a multi-lane road, trees, and a tall building. A flat-roofed structure stands on the pavement, providing potential shelter for small targets like pedestrians.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_016.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_016.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_016.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_052", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_52", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced visibility for the drone and other targets in this image from UAV3?", "options": { "A": "Overexposure due to sunlight", "B": "Partial occlusion by tree leaves", "C": "Low contrast due to shadows on the road", "D": "Sensor noise affecting image clarity" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image from UAV3 shows a drone positioned on a sidewalk, with significant occlusion caused by dense tree leaves at the top and sides, making target detection challenging. The road markings and shadows are visible but do not obscure the drone substantially.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_052.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_052.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_052.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_040", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_461", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "1", "B": "5", "C": "3", "D": "2" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_040.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_040.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_040.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_085", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_505", "question_type": "Object Matching", "question": "The black drone hovering above the shaded platform in UAV2\u2019s aerial view corresponds to which target in another UAV\u2019s perspective?", "options": { "A": "The black drone now seen above the grass field, near the row of bushes in UAV3\u2019s aerial perspective", "B": "The black drone now hovering closer to the brightly lit platform section in UAV1\u2019s perspective", "C": "A dark object stationary near the trees on the left in UAV3\u2019s aerial view", "D": "A pedestrian walking near the shaded platform in UAV1\u2019s aerial perspective" }, "correct_answer": "B", "annotation_info": "", "image_description": "UAV2\u2019s aerial view shows a black drone hovering above the shaded platform area. UAV1\u2019s perspective shows the same black drone hovering closer to the brightly lit section of the platform.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_085.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_085.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_085.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_003", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_89", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the pedestrian standing near the base of the curved pathway in UAV2's aerial view?", "options": { "A": "The pedestrian now seen walking towards the green lawn in UAV3's perspective", "B": "The pedestrian now visible entering the building adjacent to the curved pathway in UAV1's perspective", "C": "The pedestrian now visible standing near a bench next to the curved pathway in UAV3's view", "D": "The pedestrian viewed from above standing near a lamp post on the lawn in UAV1\u2019s aerial view" }, "correct_answer": "C", "annotation_info": "", "image_description": "UAV2's aerial view shows a pedestrian near the base of a curved pathway; in UAV3's perspective, the same pedestrian is seen standing near a bench adjacent to the curved pathway.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_003.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_003.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_003.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_045", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_217", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drones in the marked regions?", "options": { "A": "Drone occluded by the tree near the sidewalk in the upper-right area that requires precise position identification", "B": "Drone with low visibility due to shadows in the center area that needs lighting adjustment", "C": "Drone flying near the pedestrian crosswalk in the upper-left corner that requires trajectory confirmation", "D": "Drone hovering near the traffic light on the right edge that requires contrast enhancement" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3 captures a drone in the marked region located near the sidewalk in the upper-right area, partially occluded by tree foliage, requiring detailed position and tracking information to be shared across UAVs.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_045.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_045.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_045.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_065", "uav_id": "UAV3", "question_id": "Sim3_what2col_UAV3_65", "question_type": "What to Collaborate", "question": "What specific object information should UAV3 share with other UAVs about the drone in the marked region?", "options": { "A": "Drone covered partially by tree shadow near the center of the image, which requires clarity in tracking position", "B": "Drone surrounded by dense foliage in the upper-left corner, making identification challenging and requiring detailed features for confirmation", "C": "Drone in direct sunlight near the crosswalk in the center, which may need adjustments for brightness consistency", "D": "Drone closely approaching the sidewalk near buildings on the right edge that requires proximity analysis" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV3 image shows a drone located near the center of the marked region, partially covered by tree shadows on the paved sidewalk, creating a challenge in confirming its precise position for tracking purposes. Other UAVs capture the same scene but without identical shadowing or occlusion details.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_065.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_065.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_065.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_010", "uav_id": "UAV3", "question_id": "Sim3_QA_UAV3_332", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV3?", "options": { "A": "5", "B": "2", "C": "3", "D": "4" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_010.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_010.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_010.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_005_frame_005", "uav_id": "UAV3", "question_id": "Sim3_CA_UAV3_327", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detectability of pedestrians and bicycles in this image from UAV3?", "options": { "A": "Overexposure due to insufficient shadows from UAV height", "B": "Occlusion caused by trees lining the sidewalk", "C": "Perspective distortion from high viewing angle", "D": "Poor color contrast between objects and pavement" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image, taken from a high UAV perspective, shows trees along the sidewalk casting shadows onto the pavement. These trees occlude the sidewalk, making it difficult to detect pedestrians or bicycles below their canopies. The issue is most pronounced near the tree-lined areas.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_005.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_005.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_005.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_070", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_487", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the small black drone positioned relative to the white pathway in the plaza?", "options": { "A": "The black drone is directly above the center of the white pathway", "B": "The black drone is located to the side of the white pathway near the trees", "C": "The black drone is positioned near the edge of the plaza close to the building structure", "D": "The black drone is hovering over the grassy area adjacent to the plaza" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV captures an outdoor plaza divided into a grassy area and a patterned tiled space, with a white pathway cutting through the plaza. A small black drone is positioned near the plaza edge and adjacent to the building structure seen in the tiled area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_070.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_070.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_070.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_048", "uav_id": "UAV2", "question_id": "Sim3_what2col_UAV2_370", "question_type": "What to Collaborate", "question": "What specific object information should UAV2 share with other UAVs about the drone in the marked region visible near the structure?", "options": { "A": "Drone under shadows near the structure in the center that requires lighting compensation for better detection", "B": "Drone partially obscured behind the trees near the left edge that needs obstacle clarification", "C": "Drone flying directly above the open pavement near the structure that requires trajectory validation", "D": "Drone blending into the urban background near the building on the right side that requires contrast enhancement" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2 captures a drone in the marked region at position (34.0%, 35.4%) with size 1.4%x1.4%, located near the center of the scene near the structure, where shadows might obscure the drone's visibility.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_048.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_048.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_048.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_001_frame_067", "uav_id": "UAV2", "question_id": "Sim3_QA_UAV2_67", "question_type": "Quality Assessment", "question": "What is the perception quality assessment score (1-5) for target detection in the image captured by UAV2?", "options": { "A": "5", "B": "1", "C": "4", "D": "2" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_067.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_067.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_067.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_080", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_588", "question_type": "Object Grounding", "question": "From the UAV's aerial view, where is the drone located relative to the line of trees in the plaza?", "options": { "A": "The drone is hovering directly above the line of trees", "B": "The drone is located to the right of the line of trees, near the curved building", "C": "The drone is in front of the line of trees, near the open plaza area", "D": "The drone is behind the line of trees, closer to the roadway" }, "correct_answer": "C", "annotation_info": "", "image_description": "The UAV's perspective shows a plaza surrounded by buildings and a line of trees. A small drone is visible hovering near the open plaza area, positioned in front of the line of trees with the roadway in the background.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_080.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_080.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_080.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_077", "uav_id": "UAV1", "question_id": "Sim3_OC_UAV1_77", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV1's field of view?", "options": { "A": "0", "B": "1", "C": "4", "D": "2" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_077.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_077.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_077.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_004", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_175", "question_type": "Object Matching", "question": "The pedestrian wearing a blue outfit, partially obscured by a tree in UAV1's aerial view, corresponds to which target in another UAV's perspective?", "options": { "A": "The pedestrian in a blue outfit, now seen walking near the building courtyard in UAV2's aerial perspective", "B": "The pedestrian in a green outfit, seen crossing the intersection in UAV3's field of view", "C": "The pedestrian wearing a blue outfit, now fully visible near the traffic light in UAV3's perspective", "D": "The pedestrian in a red outfit, seen running across the zebra crossing in UAV2's aerial view" }, "correct_answer": "C", "annotation_info": "", "image_description": "UAV1's aerial view shows a pedestrian wearing a blue outfit partially hidden by a tree near the sidewalk. In UAV3's perspective, the same pedestrian is fully visible near the traffic light.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_004.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_004.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_004.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_068", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_152", "question_type": "Object Matching", "question": "The UAV3 view shows a quadcopter drone positioned near the edge of a rooftop helipad. Which target in another UAV's perspective corresponds to this drone?", "options": { "A": "A black quadcopter drone seen hovering above the center of the rooftop helipad in UAV2's perspective", "B": "A drone flying above the open grass field adjacent to the skyscraper in UAV1's aerial view", "C": "A quadcopter drone seen parked at the corner of a different rooftop helipad in UAV3's view", "D": "A drone hovering close to the edge of a park in UAV2's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV3 view shows a quadcopter drone near the edge of a rooftop helipad of a tall skyscraper. In UAV2's perspective, the same quadcopter drone is hovering above the center of the helipad.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_068.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_068.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_068.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_007_frame_028", "uav_id": "Unknown_UAV", "question_id": "Sim3_SC_UN_540", "question_type": "Scene Comparison", "question": "How does the visibility of target drones differ across the three UAV perspectives?", "options": { "A": "UAV1 captures one visible drone but misses the others due to occlusion from buildings.", "B": "UAV2 provides visibility of two drones with limited occlusion from trees and curves.", "C": "UAV3 captures the highest number of drones visible due to its extended angle of view.", "D": "All three UAVs detect an equal number of drones in the scene." }, "correct_answer": "B", "annotation_info": "Perception issues: Too small; Perception degradation: Object occlusion, Small target / Long distance, Out of FoV; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 44.31687715269805, 'y': 36.739380022962116, 'width': 1.2629161882893243, 'height': 2.0410766679423347, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV2; Collaboration reasons: The current image suffers from object occlusion, while the other perspective has a complete view of the object and can provide complementary information., The target appears too small or distant in the current image, but is larger and more visible in the other persepctive., Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 focuses on individual drones in an open square area, partially occluded. UAV2 reveals additional drones and tree lines. UAV3 adds extended urban and drone visibility from overlapping angles.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_028.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_028.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_028.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_080", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_80", "question_type": "Object Matching", "question": "In UAV2's aerial view, the small quadcopter drone partially obscured by tree foliage corresponds to which target in another UAV's perspective?", "options": { "A": "The drone now seen from above, fully visible in the center of the road in UAV3's perspective", "B": "The drone seen flying at a higher altitude in UAV1's perspective", "C": "The drone now seen hovering near the sidewalk in UAV3's aerial view", "D": "The drone partially obscured by tree foliage in a different part of the scene in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV2's aerial view shows a quadcopter drone partially hidden by tree foliage, situated on the road between rows of trees. In UAV3's perspective, the same drone is fully visible from above, centered on the road, unaffected by tree coverage.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_080.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_080.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_080.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_041", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_41", "question_type": "Object Grounding", "question": "From the UAV's perspective, where is the drone located relative to the crosswalk?", "options": { "A": "The drone is positioned directly above the crosswalk, near its center", "B": "The drone is hovering on the sidewalk adjacent to the crosswalk", "C": "The drone is positioned on the road directly behind the crosswalk", "D": "The drone is located in the shadow of a nearby tree, away from the crosswalk" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a view of a road with a crosswalk below. A drone is visible positioned directly above the crosswalk, while trees and sidewalks surround the area.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_041.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_041.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_041.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_004_frame_534", "uav_id": "UAV1", "question_id": "Sim3_SC_UN_UAV1_316", "question_type": "Scene Description", "question": "What is the spatial relationship between the two UAVs in this scene?", "options": { "A": "The UAVs are both hovering above the center of the road and directly aligned.", "B": "The UAVs are positioned parallel to each other but on opposite sides of the buildings.", "C": "The UAVs are flying on the same side, with one slightly ahead of the other.", "D": "The UAVs are hovering diagonally across from one another over separate lanes." }, "correct_answer": "C", "annotation_info": "Perception degradation: Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 31.86046511627907, 'y': 47.958656330749356, 'width': 5.6589147286821735, 'height': 3.583118001722653, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: None; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The scene depicts two UAVs hovering over an urban area with a multi-lane road. They are on the same side of the road, positioned parallel to each other, with one UAV slightly ahead of the other.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_534.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_534.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_534.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_006", "uav_id": "UAV1", "question_id": "Sim3_OM_UAV1_92", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the drone hovering above the helipad in UAV1's aerial view?", "options": { "A": "The drone now flying to the edge of the helipad seen in UAV2\u2019s perspective from a higher altitude", "B": "The helicopter landing on the helipad in UAV3\u2019s perspective", "C": "The drone hovering over a field near the helipad visible in UAV3\u2019s perspective", "D": "The white UAV parked at the adjacent building rooftop in UAV2\u2019s aerial view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1's aerial view shows a drone hovering above a helipad, while UAV2's perspective shows the same drone flying towards the edge of the helipad from a different altitude.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_006.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_006.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_006.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_001_frame_004", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_4", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_004.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_004.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_004.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_062", "uav_id": "UAV2", "question_id": "Sim3_OM_UAV2_573", "question_type": "Object Matching", "question": "The drone flying near the curved building in UAV2's perspective corresponds to which target in another UAV's aerial view?", "options": { "A": "The drone now flying closer to the row of trees along the curved building in UAV3's perspective", "B": "The drone now hovering at the intersection in front of the blue glass tower as seen in UAV1's perspective", "C": "The drone seen stationary farther from the curved building and near the sidewalk in UAV3's aerial perspective", "D": "The drone now visible behind the trees in front of the blue glass building as seen in UAV1's view" }, "correct_answer": "A", "annotation_info": "", "image_description": "In UAV2's perspective, a drone is seen flying close to the curved building. From UAV3, the drone is now visible closer to the trees along the curved building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_062.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_062.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_062.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_005_frame_067", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_388", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the row of trees positioned in the urban scene relative to the road and the building?", "options": { "A": "The row of trees is positioned between the road and the building seen on the left of the frame", "B": "The row of trees is located parallel to the road, separating it from the building on the right", "C": "The row of trees is adjacent to the road on both sides in front of the building's main entrance", "D": "The row of trees is scattered across the plaza where the UAV is hovering" }, "correct_answer": "B", "annotation_info": "", "image_description": "In the UAV's aerial view, a row of trees is visible parallel to a road, acting as a separator between the road and a nearby building with a tiled plaza in the foreground.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_067.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_067.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_067.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_006_frame_062", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_482", "question_type": "Object Recognition", "question": "From the UAV's aerial view, what is the most likely purpose of the open area surrounded by greenery based on the visible scene?", "options": { "A": "A pedestrian walkway with no vehicular access", "B": "A parking area for vehicles", "C": "A landing zone for drones", "D": "A recreational area with seating" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures an open area with large green spaces, trees, and walkways, with no vehicular activity or parking structures visible.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_062.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_062.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_062.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_239", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_286", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, what is the relative positioning of the three UAVs in the airspace above the road?", "options": { "A": "The UAVs are aligned in a linear pattern at uniform distances, centered above the road.", "B": "The UAVs are positioned in a triangle formation over different segments of the road.", "C": "The UAVs are staggered, with one leading and two on either side over the buildings.", "D": "The UAVs are hovering in random positions without any discernible pattern." }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures three UAVs flying in a straight-line formation at similar altitudes, evenly spaced above a central road running through an urban environment surrounded by skyscrapers and trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_239.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_239.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_239.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_050", "uav_id": "UAV1", "question_id": "Sim3_OG_UAV1_135", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where is the helipad positioned relative to the nearby buildings?", "options": { "A": "The helipad is elevated above the buildings and surrounded by open space", "B": "The helipad is at the same level as the rooftops of the buildings nearby", "C": "The helipad is positioned below the buildings on the ground level", "D": "The helipad is fully enclosed within the tallest building visible" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a green helipad marked with landing guidance, located at the top of a modern high-rise tower. Surrounding the helipad, the UAV's view shows multiple buildings of varying heights with urban landscapes below.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_050.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_050.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_050.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_029", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_29", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "2", "B": "3", "C": "1", "D": "0" }, "correct_answer": "D", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_029.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_029.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_029.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_037", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_458", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_037.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_037.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_037.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_002_frame_063", "uav_id": "UAV2", "question_id": "Sim3_OR_UAV2_148", "question_type": "Object Recognition", "question": "From this UAV's aerial perspective, which target type is most likely present on the helipad?", "options": { "A": "A stationary vehicle", "B": "A surveillance drone", "C": "A pedestrian walking", "D": "An emergency vehicle" }, "correct_answer": "B", "annotation_info": "", "image_description": "The UAV captures an aerial view of a helipad on a tall building, with a small object resembling a surveillance drone visible on the helipad. The surrounding buildings, green areas, and roads are spread across the urban environment below.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_063.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_063.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_063.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_083", "uav_id": "UAV3", "question_id": "Sim3_OG_UAV3_252", "question_type": "Object Grounding", "question": "From the UAV's aerial perspective, where are the pedestrians located relative to the crosswalk and nearby tree?", "options": { "A": "The UAV is near the pedestrian crossing, close to that tree.", "B": "The UAV stands near the edge of the pedestrian crossing, away from that tree.", "C": "The UAV is under the shade of a tree at the far end of the pedestrian crossing.", "D": "The UAV is located near the edge of the pedestrian crossing, partially obscured by the branches and leaves of trees." }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures a scene with pedestrians standing on the crosswalk near its edge and a tree positioned nearby, with shadows extending on the ground. The area encompasses a paved intersection with adjacent pedestrian paths.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_083.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_083.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_083.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_005_frame_018", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_340", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_005/UAV1/UAV1_frame_018.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_005/UAV2/UAV2_frame_018.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_005/UAV3/UAV3_frame_018.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_006_frame_085", "uav_id": "UAV1", "question_id": "Sim3_CA_UAV1_506", "question_type": "Causal Assessment", "question": "What is the primary cause of reduced detection quality for pedestrians and bicycles in this image?", "options": { "A": "Occlusion by trees and shadows", "B": "Blurring due to motion artifacts", "C": "Overexposure in the brightly lit areas", "D": "Low contrast due to uneven lighting distribution" }, "correct_answer": "A", "annotation_info": "", "image_description": "The image shows an uneven distribution of lighting, with pedestrians and bicycles potentially occluded by dense tree cover and shadows in the darker areas, impacting detection quality.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_085.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_085.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_085.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_051", "uav_id": "UAV2", "question_id": "Sim3_who2col_UAV2_137", "question_type": "Who to Collaborate", "question": "Which UAV should UAV2 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV1", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV1", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_051.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_051.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_051.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_007_frame_093", "uav_id": "UAV1", "question_id": "Sim3_who2col_UAV1_605", "question_type": "Who to Collaborate", "question": "Which UAV should UAV1 collaborate with for collaboration partner for specific object data across UAVs?", "options": { "A": "UAV2\uff0cUAV3", "B": "None (no suitable collaboration partner)", "C": "UAV3", "D": "UAV2" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2\uff0cUAV3", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_093.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_093.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_093.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_076", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_76", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the drone hovering above the center lane of the roadway in UAV3's aerial view?", "options": { "A": "The drone hovering near the crosswalk in UAV2's perspective with the roadway visible below", "B": "The pedestrian walking along the sidewalk in UAV1's aerial view, seen near the same roadway", "C": "The blue car stopped near the curb in UAV1's perspective", "D": "The partially occluded drone seen hovering closer to the parked cars in UAV1's perspective" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a drone hovering above the center lane of a roadway; UAV2's perspective captures the same drone, now near the crosswalk with the roadway visible below.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_076.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_076.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_076.jpg" } }, { "dataset_file": "VQA_Sim3_SU.json", "sequence_frame": "scene_007_frame_013", "uav_id": "UAV2", "question_id": "Sim3_SC_UN_UAV2_525", "question_type": "Scene Comparison", "question": "Given the UAV's perspective, what is the most critical monitoring priority in this urban scene?", "options": { "A": "Tracking pedestrians within the shaded walking areas", "B": "Monitoring unmoving structures for potential hazards", "C": "Identifying unusual activity near building entrances", "D": "Surveillance of vehicle movement near the curved structure" }, "correct_answer": "C", "annotation_info": "Perception issues: Under shadow; Perception degradation: Under shadow, Others\uff08Please fill in below\uff09; Image quality: Good (4/5) - Mostly clear, minor noise or distortion.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 23.801540043141287, 'y': 46.20375443788943, 'width': 1.3544782018511943, 'height': 1.3940828276363182, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}, {'x': 69.42606894760273, 'y': 39.61354470724498, 'width': 1.2831898754379694, 'height': 1.6475524326611009, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 1920, 'original_height': 1080}]; Collaboration partner: UAV1; Collaboration reasons: The current image is affected by blur, limited visibility, brightness imbalance, color distortion, device malfunction, or other issues, while the other image is of good quality and can compensate for these issues.", "image_description": "The image shows an urban environment with high-rise buildings, trees, and open areas. No visible dynamic targets (e.g., pedestrians, bicycles, or vehicles) are present, but potential surveillance focus may include monitoring structural activity or building access.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_013.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_013.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_013.jpg" } }, { "dataset_file": "VQA_Sim3_PA.json", "sequence_frame": "scene_003_frame_069", "uav_id": "UAV2", "question_id": "Sim3_UA_UAV2_241", "question_type": "Usability Assessment", "question": "What is the primary challenge for detecting pedestrians in this image from UAV2?", "options": { "A": "Lack of sufficient lighting in the scene", "B": "Occlusion caused by dense foliage of trees", "C": "Severe motion blur affecting image quality", "D": "Inadequate resolution for pedestrian recognition" }, "correct_answer": "B", "annotation_info": "", "image_description": "The image shows an urban area captured from overhead, with sidewalks partially occluded by dense tree foliage. The occlusion from tree branches and leaves creates significant visibility challenges for detecting pedestrians, while the rest of the scene is well-lit and in focus.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_069.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_069.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_069.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_003_frame_048", "uav_id": "UAV3", "question_id": "Sim3_who2col_UAV3_220", "question_type": "Who to Collaborate", "question": "Which UAV should UAV3 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV2", "B": "None (no suitable collaboration partner)", "C": "UAV1", "D": "A ground-based sensor" }, "correct_answer": "A", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_048.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_048.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_048.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_002_frame_033", "uav_id": "UAV1", "question_id": "Sim3_why2col_UAV1_119", "question_type": "Why to Collaborate", "question": "Why is collaboration between UAV1 and other UAVs necessary based on the provided images?", "options": { "A": "To compensate for limited field of view caused by UAV1's high vantage point", "B": "To enhance the resolution of the captured images for better analysis", "C": "To reduce noise caused by environmental disturbances near the helipad", "D": "To achieve more dynamic coverage of objects located far from UAV1's main focus area" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV1 shows a high-altitude perspective of a helipad and surrounding buildings, but lacks detailed coverage of objects obscured by the building's structure. Other UAVs are positioned at different angles to complement coverage gaps. Key areas requiring additional information are noted at positions (45.3%, 62.1%) with approximate size 7.2%x5.6%.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_002/UAV1/UAV1_frame_033.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_002/UAV2/UAV2_frame_033.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_002/UAV3/UAV3_frame_033.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_003_frame_091", "uav_id": "UAV2", "question_id": "Sim3_OC_UAV2_263", "question_type": "Object Counting", "question": "From the UAV's aerial perspective, how many targets (drones, vehicles, pedestrians) can be detected in UAV2's field of view?", "options": { "A": "5", "B": "0", "C": "2", "D": "3" }, "correct_answer": "C", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_003/UAV1/UAV1_frame_091.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_003/UAV2/UAV2_frame_091.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_003/UAV3/UAV3_frame_091.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_007_frame_075", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_586", "question_type": "Object Grounding", "question": "From the UAV2 aerial perspective, how is the black drone positioned relative to the trees and the curved building?", "options": { "A": "The black drone is located on the ground near the center of the open area, far from the trees and the building.", "B": "The black drone is hovering over the trees adjacent to the curved building.", "C": "The black drone is positioned in the open area, directly under the building\u2019s shadow.", "D": "The black drone is flying at the same height as the curved building, next to its upper floors." }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV captures the black drone on the ground near the open area, surrounded by trees on one side and a curved building on the other. The drone is distinctly separated from the building and the tree line.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_007/UAV1/UAV1_frame_075.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_007/UAV2/UAV2_frame_075.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_007/UAV3/UAV3_frame_075.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_004_frame_017", "uav_id": "UAV3", "question_id": "Sim3_OM_UAV3_264", "question_type": "Object Matching", "question": "Which target in another UAV's perspective corresponds to the black drone flying near the curved glass building on the left side in UAV3's aerial view?", "options": { "A": "The black drone now seen flying next to the taller rectangular building with blue windows in UAV2's perspective", "B": "The black drone now flying above the open street, in front of the central tower in UAV1's aerial view", "C": "The black quadrotor drone positioned near the white dome structure seen in UAV1's perspective", "D": "The small gray drone positioned on the right side of the green park visible in UAV2's field of view" }, "correct_answer": "A", "annotation_info": "", "image_description": "UAV3's aerial view shows a black drone flying near the curved glass building on the left side of the perspective. UAV2's perspective captures the same black drone flying next to a taller rectangular blue-windowed building.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_004/UAV1/UAV1_frame_017.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_004/UAV2/UAV2_frame_017.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_004/UAV3/UAV3_frame_017.jpg" } }, { "dataset_file": "VQA_Sim3_CD.json", "sequence_frame": "scene_006_frame_057", "uav_id": "UAV2", "question_id": "Sim3_why2col_UAV2_478", "question_type": "Why to Collaborate", "question": "What is the main reason UAV2 should collaborate with other UAVs in this scenario?", "options": { "A": "To obtain larger and more visible information about the small and distant target", "B": "To improve the lighting conditions for target visibility across multiple views", "C": "To enhance UAV2's field of view to include areas that were occluded", "D": "To streamline navigation algorithms for flight efficiency" }, "correct_answer": "A", "annotation_info": "The target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "In the UAV2 image, the target appears too small and distant for clear identification, but is larger and more visible in other UAV perspectives. Collaboration enables UAV2 to gather complete target information by relying on complementary views. The annotation emphasizes the need to address size and visibility challenges caused by position (35.6%, 53.4%) with dimensions 4.2%x2.8%.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_006/UAV1/UAV1_frame_057.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_006/UAV2/UAV2_frame_057.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_006/UAV3/UAV3_frame_057.jpg" } }, { "dataset_file": "VQA_Sim3_OU.json", "sequence_frame": "scene_001_frame_063", "uav_id": "UAV2", "question_id": "Sim3_OG_UAV2_63", "question_type": "Object Grounding", "question": "From the UAV\u2019s aerial perspective, where is the drone located in relation to the shadows of the surrounding trees?", "options": { "A": "The drone is centered on the road and slightly covered by shadow", "B": "The drone is directly under the trees, fully obscured by shadow", "C": "The drone is positioned along the sidewalk, away from any shadow", "D": "The drone is floating above the trees, casting a shadow onto the road" }, "correct_answer": "A", "annotation_info": "", "image_description": "The UAV's aerial view captures a small drone centered on a road, partially surrounded by shadows from nearby trees.", "uav_paths": { "UAV1": "Sim_3_UAVs/Samples/images/scene_001/UAV1/UAV1_frame_063.jpg", "UAV2": "Sim_3_UAVs/Samples/images/scene_001/UAV2/UAV2_frame_063.jpg", "UAV3": "Sim_3_UAVs/Samples/images/scene_001/UAV3/UAV3_frame_063.jpg" } } ] }