[ { "sequence_frame": "3-40m-1623936157944367872.png", "question_id": "Sim5_what2col_UAV2_1", "question_type": "4.2 What to Collaborate (UAV2)", "question": "What specific object information should UAV2 share with other UAVs to enhance multi-view understanding of the scene?", "options": { "A": "Details of parked cars near residential houses visible to UAV2 but occluded in other views", "B": "Orientation and movement patterns of vehicles on the main road crossing the roundabout", "C": "Position of trees separating lanes seen clearly from UAV2's perspective", "D": "Shadow effects on road layout observed prominently from UAV2's angle" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 provides a clear view of vehicles entering and exiting the roundabout, which are partially occluded in other UAV perspectives. Other UAVs primarily capture residential areas, parked cars, and adjacent roads but miss vehicle movement clarity on the main intersection.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936157944367872-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936157944367872-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936157944367872-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936157944367872-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936157944367872-UAV5.png" } }, { "sequence_frame": "3-40m-1623936157944367872.png", "question_id": "Sim5_what2col_UAV4_1", "question_type": "4.2 What to Collaborate (UAV4)", "question": "What specific object information should UAV4 collaborate on with other UAVs to enhance multi-view perception?", "options": { "A": "Precise positions and movements of the vehicles near the roundabout for accurate traffic analysis", "B": "Detailed appearance and orientation of the trees along the middle road for environmental modeling", "C": "Locations and identities of stationary objects near the residential area for scene reconstruction", "D": "Visibility and shadow effects of buildings in all UAV views for lighting condition estimation" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows vehicles moving through a straight road surrounded by residential areas and trees, while the other UAV views highlight traffic near the roundabout, building layouts, and roadside objects.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936157944367872-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936157944367872-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936157944367872-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936157944367872-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936157944367872-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "Sim5_what2col_UAV1_2", "question_type": "4.2 What to Collaborate (UAV1)", "question": "What scene context information should UAV1 share with other UAVs to improve multi-view perception of the urban environment?", "options": { "A": "The position and layout of the roundabout and surrounding houses", "B": "The movement patterns of vehicles on roads visible to UAV1", "C": "The architectural details of buildings in UAV1's view", "D": "Locations and potential occlusions of parked vehicles near the center courtyard" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The first image from UAV1 shows a central courtyard surrounded by buildings and nearby road traffic, while other UAV views provide complementary angles of residential areas, a roundabout, and parked vehicles.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "Sim5_what2col_UAV3_2", "question_type": "4.2 What to Collaborate (UAV3)", "question": "What specific scene context information should UAV3 gather from other UAVs to enhance understanding of the urban layout and traffic dynamics?", "options": { "A": "Details of vehicle movement on roads not visible to UAV3", "B": "Locations of trees and vegetation surrounding the roundabout", "C": "Spatial layout of buildings and their orientations across views", "D": "Detailed mapping of pedestrian pathways and sidewalks" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 provides an aerial view of a roundabout surrounded by residential houses, roads, and sparse traffic. Other UAV views complement this by showing additional road segments, commercial buildings, and areas where traffic is denser but not visible in UAV3's perspective.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "Sim5_why2col_UAV3_2", "question_type": "4.4 Why to Collaborate (UAV3)", "question": "Why should UAV3 collaborate with other UAVs in this scenario?", "options": { "A": "To capture objects in the scene that are currently out of UAV3's field of view", "B": "To detect lighting variations across different areas in the scene", "C": "To avoid redundant overlap of information from multiple UAV perspectives", "D": "To reduce the energy consumption during operation by dividing tasks" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV3", "source": "Rule-Based & Model-Based (Few-Shot)", "annotation_info": "Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV3 captures a portion of a suburban area, but key targets are missing in its current view. Collaboration with other UAVs can complement these gaps by accessing views that include the missing objects.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "Sim5_when2col_UAV4_2", "question_type": "4.1 When to Collaborate (UAV4)", "question": "Should UAV4 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "Sim5_when2col_UAV5_2", "question_type": "4.1 When to Collaborate (UAV5)", "question": "Should UAV5 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV5", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "Sim5_what2col_UAV1_3", "question_type": "4.2 What to Collaborate (UAV1)", "question": "What specific object information should UAV1 share with other UAVs to enhance perception of traffic conditions?", "options": { "A": "Details of the parked vehicles near the houses visible in UAV1's view", "B": "Details of the vehicle congestion observed on the main road ahead from other UAVs", "C": "Details of the red vehicle approaching the intersection visible in UAV4’s view", "D": "Details of pedestrian crossings near the intersection visible in UAV5’s view" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV1 shows parked vehicles along the roadside near houses, while other UAVs reveal traffic congestion on the main road and a red vehicle nearing an intersection.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "Sim5_when2col_UAV4_3", "question_type": "4.1 When to Collaborate (UAV4)", "question": "Should UAV4 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "Sim5_when2col_UAV5_3", "question_type": "4.1 When to Collaborate (UAV5)", "question": "Should UAV5 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV5", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "Sim5_what2col_UAV5_3", "question_type": "4.2 What to Collaborate (UAV5)", "question": "What specific scene context information should UAV5 share with other UAVs to enhance understanding of traffic dynamics in the area?", "options": { "A": "Details of the location and movement of the red vehicle at the intersection", "B": "Information about the shadowed areas observed by UAV5 that may obscure other UAVs' vision", "C": "Details on the layout of road markings and intersection geometry from UAV5's perspective", "D": "Information about the nearby green spaces and trees observed in UAV5's view" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV5 captures a high-level view of an intersection with multiple vehicles, including a red car, while other UAVs show complementary views of nearby roads, green areas, and traffic concentration in adjacent lanes.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "Sim5_what2col_UAV3_5", "question_type": "4.2 What to Collaborate (UAV3)", "question": "What specific object information should UAV3 share with other UAVs to enhance multi-view perception of the road scene?", "options": { "A": "Details of the positions and trajectories of the two cars visible on the straight road from UAV3's perspective", "B": "Information about the structural state and alignment of the railway tracks visible beside the road", "C": "Details of the density and placement of vegetation bordering the road visible in UAV3's view", "D": "Details of road markings along the straight road to validate consistency across UAV perspectives" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 captures a segment of a straight road with two moving vehicles, adjacent vegetation, and railway tracks. Other UAV views show connected street intersections, more vehicles, and additional road elements.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "Sim5_when2col_UAV4_5", "question_type": "4.1 When to Collaborate (UAV4)", "question": "Should UAV4 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "Sim5_what2col_UAV4_5", "question_type": "4.2 What to Collaborate (UAV4)", "question": "What scene context information should UAV4 share with other UAVs to enhance multi-view traffic analysis?", "options": { "A": "Traffic density estimates for vehicles at the intersection visible in UAV4", "B": "Speed and trajectory patterns of vehicles along the curved road section in UAV1's view", "C": "Vehicle types and their counts across all UAVs' perspectives", "D": "Parking availability near buildings visible in UAV3's view" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows an urban area with vehicles moving through a major intersection. Other UAVs provide complementary views of nearby roads, including curved sections and building areas, allowing analysis of traffic patterns and vehicle movement.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "Sim5_why2col_UAV4_5", "question_type": "4.4 Why to Collaborate (UAV4)", "question": "Why should UAV4 collaborate with other UAVs in this scenario?", "options": { "A": "To overcome its inability to capture objects outside its current field of view", "B": "To reduce the amount of redundant data collected", "C": "To correct for shadow effects caused by building structures", "D": "To improve the flight stability of the UAV during data collection" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based & Model-Based (Few-Shot)", "annotation_info": "Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV4 shows a view with objects potentially outside its field of view, particularly vehicles and urban structures partially obscured. Additional data from other UAVs may capture the target that UAV4 misses.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "Sim5_why2col_UAV2_6", "question_type": "4.4 Why to Collaborate (UAV2)", "question": "What is the main reason UAV2 should collaborate with other UAVs in this scenario?", "options": { "A": "To compensate for the small and distant target size visible in UAV2's view", "B": "To synchronize overlapping data from identical regions", "C": "To improve visibility of shadowed objects in UAV2's perspective", "D": "To generate a shared panoramic image across multiple perspectives" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV2", "source": "Rule-Based & Model-Based (Few-Shot)", "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 image from UAV2 shows a road scene where distant vehicles appear too small for clear recognition. However, other UAV perspectives show these vehicles larger and more visible, providing complementary details.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "Sim5_why2col_UAV3_6", "question_type": "4.4 Why to Collaborate (UAV3)", "question": "Why is it important for UAV3 to collaborate with other UAVs in this scenario?", "options": { "A": "To gain detailed visibility of distant objects that appear smaller in UAV3's view", "B": "To avoid redundancy by eliminating overlapping fields of view", "C": "To calculate the speed of vehicles by integrating multiple perspectives", "D": "To optimize battery usage 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"D": "UAV1" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: UAV2", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624111375755501568.png", "question_id": "Sim5_what2col_UAV2_12", "question_type": "4.2 What to Collaborate (UAV2)", "question": "What traffic-related information should UAV2 share with other UAVs to provide a comprehensive understanding of the scene?", "options": { "A": "The position and speed of cars approaching the intersection visible from UAV2's view", "B": "The layout and clear 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UAV5 provides unique visibility of these vehicles.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624111375755501568-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624111375755501568-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624111375755501568-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624111375755501568-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624111375755501568-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "Sim5_what2col_UAV1_13", "question_type": "4.2 What to Collaborate (UAV1)", "question": "What scene context information should UAV1 share with other UAVs to improve multi-view perception in this scenario?", "options": { "A": "Details of the layout and structure of the residential area visible from UAV1’s view", "B": "Information about vehicle positions and movements on the nearby main road across all UAV views", "C": "Locations of shadowed areas affecting visibility across multiple UAV perspectives", "D": "Details of the nearby railway infrastructure complementing features seen from other UAVs" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV1 captures clear views of a residential area with smaller roads, while other UAVs focus on the main roads, railway overpasses, and intersections with active vehicle movements, creating complementary perspectives for analyzing traffic flows.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "Sim5_what2col_UAV2_13", "question_type": "4.2 What to 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intersection near compact residential buildings, while subsequent images provide perspectives around residential zones and broader city landscapes, with varied traffic and vehicle positioning.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "Sim5_when2col_UAV5_13", "question_type": "4.1 When to Collaborate (UAV5)", "question": "Should UAV5 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image 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"Details of the tree shadows affecting visibility of vehicles", "C": "Details of the parked vehicles adjacent to the house", "D": "Details of the position and orientation of the traffic signs visible in UAV1's view" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV1 captures a view of black cars near an intersection, partially occluded or distant in other UAV images. Complementary UAV views cover parked vehicles near houses and traffic signs farther from UAV1's location.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "Sim5_what2col_UAV2_14", "question_type": "4.2 What to Collaborate (UAV2)", "question": "What specific object information should UAV2 share with other UAVs to enhance multi-view perception of the urban traffic scene?", "options": { "A": "Details of the positions and movement of parked vehicles near the buildings and intersections", "B": "Information about the pedestrian presence near the green spaces and sidewalks across views", "C": "Details of the road lane markings from multiple viewpoints for accurate navigation mapping", "D": "Information about traffic congestion areas identified across multiple UAV angles" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 captures a detailed view of a multi-lane urban intersection with moving vehicles, while other UAVs provide complementary views of surrounding buildings, green spaces, and residential areas. 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with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "Sim5_what2col_UAV4_14", "question_type": "4.2 What to Collaborate (UAV4)", "question": "What specific object information should UAV4 share with other UAVs to improve multi-view perception of the scene?", "options": { "A": "Details of the fountain’s structure and position across views", "B": "Information on the arrangement of identical houses visible in UAV4's perspective", "C": "Positions and movements of vehicles on the road intersecting near the houses", "D": "Details of the pedestrian activity near the central roundabout" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 provides a perspective of several identical houses near a road and fountain, while movements of vehicles on the intersecting roads are visible across other UAV images.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "Sim5_what2col_UAV1_16", "question_type": "4.2 What to Collaborate (UAV1)", "question": "What traffic-related information should UAV1 share with other UAVs to better understand the flow and patterns at the multi-lane roads and intersections?", "options": { "A": "The movement and position of individual vehicles in UAV1's view", "B": "The direction of traffic flow throughout the intersection visible to UAV1", "C": "The locations of traffic lights and their current status across UAV1 views", "D": "The structural details of buildings adjacent to the intersection" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV1 provides a close-up view of a busy intersection with vehicles turning and moving through multiple lanes, while other UAV views reveal adjacent intersections and complementary angles of the traffic flow.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "Sim5_what2col_UAV2_16", "question_type": "4.2 What to Collaborate (UAV2)", "question": "What traffic-related scene context should UAV2 share with other UAVs to enhance multi-view perception of the intersection area?", "options": { "A": "The positions of vehicles across the intersection to predict traffic congestion", "B": "The layout of road markings and traffic lane divisions visible in UAV2's view", "C": "The architectural details of nearby buildings to map urban surroundings", "D": "The pattern of pedestrian movements near the intersection zone" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 highlights the intersection with moving cars and visible lane markings, while other UAVs capture surrounding roads, buildings, and pedestrian crossings. Coordination is required to integrate information about traffic flow and congestion prediction.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "4-40m-1629091952438388224.png", "question_id": "Sim5_who2col_UAV3_17", "question_type": "4.3 Who to Collaborate (UAV3)", "question": "Which UAV should UAV3 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV4", "B": "None (no need for collaboration)", "C": "UAV1", "D": "UAV5" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV3", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: UAV4", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629091952438388224-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629091952438388224-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629091952438388224-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629091952438388224-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629091952438388224-UAV5.png" } }, { "sequence_frame": "4-40m-1629091952438388224.png", "question_id": "Sim5_when2col_UAV4_17", "question_type": "4.1 When to Collaborate (UAV4)", "question": "Should UAV4 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629091952438388224-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629091952438388224-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629091952438388224-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629091952438388224-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629091952438388224-UAV5.png" } }, { "sequence_frame": "4-40m-1629091952438388224.png", "question_id": "Sim5_what2col_UAV4_17", "question_type": "4.2 What to Collaborate (UAV4)", "question": "What specific object information should UAV4 collaborate on to enhance the understanding of the parking area and surrounding traffic?", "options": { "A": "Details of parked vehicles and their occupancy status near the apartment block", "B": "Traffic patterns and vehicle positions on the road adjacent to the waterbody", "C": "Information about pedestrians near the housing area and forest paths", "D": "Visibility conditions influenced by buildings and trees in the vicinity" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 provides a view of a large parking area near apartment buildings, while other UAVs reveal traffic flow patterns, pedestrian activity, and road structures near the waterbody and housing developments.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629091952438388224-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629091952438388224-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629091952438388224-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629091952438388224-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629091952438388224-UAV5.png" } }, { "sequence_frame": "4-40m-1629091952438388224.png", "question_id": "Sim5_when2col_UAV5_17", "question_type": "4.1 When to Collaborate (UAV5)", "question": "Should UAV5 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV5", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629091952438388224-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629091952438388224-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629091952438388224-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629091952438388224-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629091952438388224-UAV5.png" } }, { "sequence_frame": "4-40m-1629091952438388224.png", "question_id": "Sim5_who2col_UAV5_17", "question_type": "4.3 Who to Collaborate (UAV5)", "question": "Which UAV should UAV5 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV4", "B": "None (no need for collaboration)", "C": "UAV1", "D": "UAV3" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV5", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: UAV4", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629091952438388224-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629091952438388224-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629091952438388224-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629091952438388224-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629091952438388224-UAV5.png" } }, { "sequence_frame": "4-40m-1629093666833511680.png", "question_id": "Sim5_what2col_UAV1_18", "question_type": "4.2 What to Collaborate (UAV1)", "question": "What specific object or environment information should UAV1 share with other UAVs to enhance multi-view perception?", "options": { "A": "Details of the red car's position and trajectory on the curved road", "B": "Information about the location and density of trees and rocks near the road", "C": "Details of the residential area layout visible in UAV3's view", "D": "Traffic flow data on the multi-lane highway captured by UAV2 and UAV4" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV1 shows a red car navigating a curved road surrounded by trees and rocks. Complementary UAV views capture traffic flow on a nearby highway, dense forest regions, and details of a residential area.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629093666833511680-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629093666833511680-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629093666833511680-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629093666833511680-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629093666833511680-UAV5.png" } }, { "sequence_frame": "4-40m-1629093666833511680.png", "question_id": "Sim5_what2col_UAV2_18", "question_type": "4.2 What to Collaborate (UAV2)", "question": "What specific object information should UAV2 share with other UAVs to enhance scene understanding?", "options": { "A": "Precise positions and types of vehicles on the multi-lane highway visible in UAV2's view", "B": "Details about vegetation surrounding the highway captured in UAV2 and UAV3 views", "C": "Information on road curvature and layout visible in UAV2 and UAV4 views", "D": "Locations of residential buildings near the shoreline captured primarily in UAV5" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 captures a dense multi-lane highway with cars, complemented by other UAVs showing road curvature, nearby vegetation, and coastal buildings.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629093666833511680-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629093666833511680-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629093666833511680-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629093666833511680-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629093666833511680-UAV5.png" } }, { "sequence_frame": "4-40m-1629093666833511680.png", "question_id": "Sim5_what2col_UAV3_18", "question_type": "4.2 What to Collaborate (UAV3)", "question": "What scene context information should UAV3 share with other UAVs to enhance the overall understanding of the terrain and traffic situation?", "options": { "A": "Details of the rocky terrain features to support path planning in other UAVs", "B": "Traffic density information observed on the highway from different angles", "C": "Locations of residential buildings near the water for proper scene annotation", "D": "Visibility data regarding road curves for vehicle movement prediction" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 provides a detailed view of rocky terrain and forest close to residential and rural zones, complementing other UAVs showing highways, road curves, and scattered buildings.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629093666833511680-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629093666833511680-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629093666833511680-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629093666833511680-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629093666833511680-UAV5.png" } }, { "sequence_frame": "4-40m-1629093666833511680.png", "question_id": "Sim5_when2col_UAV5_18", "question_type": "4.1 When to Collaborate (UAV5)", "question": "Should UAV5 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV5", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629093666833511680-UAV1.png", "UAV2": 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"Sim_5_UAVs/Samples/UAV4/4-40m-1629095239127567616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629095239127567616-UAV5.png" } }, { "sequence_frame": "4-40m-1629095239127567616.png", "question_id": "Sim5_when2col_UAV4_19", "question_type": "4.1 When to Collaborate (UAV4)", "question": "Should UAV4 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629095239127567616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629095239127567616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629095239127567616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629095239127567616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629095239127567616-UAV5.png" } }, { "sequence_frame": "4-40m-1629095239127567616.png", "question_id": "Sim5_who2col_UAV5_19", "question_type": "4.3 Who to Collaborate (UAV5)", "question": "Which UAV should UAV5 collaborate with for collaboration partner for complementary perspective in multi-UAV setup?", "options": { "A": "UAV4", "B": "None (no need for collaboration)", "C": "UAV2", "D": "UAV3" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV5", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: UAV4", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629095239127567616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629095239127567616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629095239127567616-UAV3.png", "UAV4": 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movement along residential streets visible in UAV4 and UAV5" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV1 captures a dense intersection surrounded by residential and urban buildings, while other UAVs provide complementary views of adjacent streets and building clusters.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502471882108928-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "Sim5_what2col_UAV2_47", "question_type": "4.2 What to Collaborate (UAV2)", "question": "What scene context information should UAV2 share with other UAVs to improve multi-UAV understanding of the urban area?", "options": { "A": "Traffic congestion levels on roads visible in UAV2's view", "B": "Shadow positions on buildings to predict sunlight exposure in other UAV views", "C": "Details of housing layout to cross-check urban planning consistency across all UAVs", "D": "Pedestrian movements near intersections visible in UAV2's view" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 provides a clear view of urban traffic and building layout, while the other UAV images bridge information on surrounding areas, including dense residential zones and lighter traffic patterns.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": 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"Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "Sim5_when2col_UAV4_47", "question_type": "4.1 When to Collaborate (UAV4)", "question": "Should UAV4 collaborate with other UAVs to address need for collaboration due to environmental factors across UAVs?", "options": { "A": "Yes, due to poor lighting conditions in multiple views", "B": "No, lighting is adequate across all UAVs", "C": "Yes, due to low image resolution in some views", "D": "No, the environment is clear for all UAVs" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_CD.json", "uav_id": "UAV4", "source": "Rule-Based (Few-Shot)", "annotation_info": "Annotation indicates: 1 (Yes)", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": 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"Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "3-40m-1623936157944367872.png", "question_id": "MDMT_OR_UAV1_1", "question_type": "2.1 Object Recognition (UAV1)", "question": "What type of vehicle is most prominently visible close to the roundabout in this scene?", "options": { "A": "A green SUV", "B": "A black pickup truck", "C": "A blue sedan", "D": "A red motorcycle" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts a roundabout surrounded by cars, buildings, and trees. 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UAV5 does not show the statue.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936157944367872-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936157944367872-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936157944367872-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936157944367872-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936157944367872-UAV5.png" } }, { "sequence_frame": "3-40m-1623936157944367872.png", "question_id": "MDMT_OC_UAV2_1", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "8", "B": "9", "C": "11", "D": "6" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936157944367872-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936157944367872-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936157944367872-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936157944367872-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936157944367872-UAV5.png" } }, { "sequence_frame": "3-40m-1623936157944367872.png", "question_id": "MDMT_OG_UAV2_1", "question_type": "2.3 Object Grounding (UAV2)", "question": "Where is the blue car located relative to the yellow car in this scene?", "options": { "A": "The blue car is parked on the opposite side of the road from the yellow car", "B": "The blue car is ahead of the yellow car in the same lane", "C": "The blue car is closer to the houses than the yellow car", "D": "The blue car is directly behind the yellow car in the same lane" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a road bordered by houses on one side and buildings on the other. 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A black sedan is driving near the bottom edge of the image. 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Several cars are visible on the roads, including a prominent black SUV near the bottom left corner of the image.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "MDMT_OM_UAV2_2", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the rectangular building with white rooftop slabs surrounded by trees visible in UAV2?", "options": { "A": "The same rectangular building now seen from above, revealing a circular fountain inside its courtyard in UAV3", "B": "The rectangular building now partly occluded by a red sedan parked in front of it in UAV4", "C": "The corner building with rounded edges located across the street visible in UAV5", "D": "The square building with green rooftop tiles surrounded by bushes in UAV1" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows a rectangular building with white rooftop slabs and several trees surrounding it. 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A row of residential buildings is visible on the left, with larger gray buildings on the right.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_OC_UAV1_3", "question_type": "2.2 Object Counting (UAV1)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV1's perspective?", "options": { "A": "22", "B": "17", "C": "19", "D": "20" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_OR_UAV1_3", "question_type": "2.1 Object Recognition (UAV1)", "question": "What type of non-vehicle object is most prominent in the scene shown from UAV1?", "options": { "A": "Residential buildings", "B": "Tall office complexes", "C": "Public park structures", "D": "Industrial warehouses" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV1 image shows a suburban scene with rows of residential houses, a fenced grassy area, and streets with multiple vehicles. Trees and fences separate the residential properties from the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_OM_UAV1_3", "question_type": "2.4 Object Matching (UAV1)", "question": "Which object in another UAV's view corresponds to the black sedan driving on the left lane near the apartment building in UAV1?", "options": { "A": "The black sedan now seen turning onto a side street near the cluster of small houses in UAV2", "B": "The black sedan now stationary near the red-tiled house, with its front pointed towards a backyard in UAV3", "C": "The black sedan now seen moving towards the traffic congestion near the red car in UAV4", "D": "The black sedan parked near the tall residential buildings at an intersection in UAV5" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV1 shows a black sedan driving on the left lane near an apartment building. 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A stone wall surrounds a prominent multi-story building. Several trees align the road on the right, and homes with red and brown rooftops are visible on the other side. An SUV is parked closest to the stone wall on the left side of the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_OG_UAV4_3", "question_type": "2.3 Object Grounding (UAV4)", "question": "Where is the red car located relative to the residential house surrounded by a fence?", "options": { "A": "The red car is parked directly in front of the residential house within the fenced area", "B": "The red car is on the main road opposite the residential house outside the fence", "C": "The red car is on a side street adjacent to the residential house", "D": "The red car is inside the property, behind the residential house within the fenced area" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a residential house surrounded by a fence on the right side of the frame, and the red car is located outside the fence, across a main road on the far-left corner of the image.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_OR_UAV5_3", "question_type": "2.1 Object Recognition (UAV5)", "question": "What type of vehicle is centrally visible at the intersection in the image?", "options": { "A": "A white pickup truck", "B": "A black SUV", "C": "A red sports car", "D": "A yellow taxi" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV5 view shows an urban scene with buildings, streets, and vehicles. 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There is a secondary road leading to the buildings, and a small bus stop is visible to the right of the nearest building across the secondary road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623937902840830464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623937902840830464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623937902840830464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623937902840830464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623937902840830464-UAV5.png" } }, { "sequence_frame": "3-40m-1623937902840830464.png", "question_id": "MDMT_OC_UAV3_4", "question_type": "2.2 Object Counting (UAV3)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV3's perspective?", "options": { "A": "12", "B": "6", "C": "9", "D": "10" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623937902840830464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623937902840830464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623937902840830464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623937902840830464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623937902840830464-UAV5.png" } }, { "sequence_frame": "3-40m-1623937902840830464.png", "question_id": "MDMT_OR_UAV3_4", "question_type": "2.1 Object Recognition (UAV3)", "question": "What type of vehicle is most prominently visible driving along the road in the image?", "options": { "A": "A silver sedan", "B": "A black SUV", "C": "A red hatchback", "D": "A white pickup truck" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a two-lane road bordered by trees and buildings. 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On the curved road at the lower left, there is a line of four dark-colored cars closely spaced. The red car is positioned ahead of this line, slightly separated from it. 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No pedestrians or cyclists are visible in the scene.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_OM_UAV3_5", "question_type": "2.4 Object Matching (UAV3)", "question": "Which object in another UAV's view corresponds to the green car driving next to a blue car in UAV3's view?", "options": { "A": "The green car now seen turning at an intersection, near a white van in UAV1's view", "B": "The green car now seen parked near an apartment complex, with a red sedan passing by in UAV4's view", "C": "The green car now seen driving through a four-way intersection next to a black car in UAV2's view", "D": "The green car now seen passing under a tall office building near a silver sedan in UAV5's view" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 shows a green car driving next to a blue car on a curved road; UAV2 captures the same green car driving through a four-way intersection next to a black car.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_OC_UAV4_5", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "16", "B": "19", "C": "22", "D": "20" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_OG_UAV4_5", "question_type": "2.3 Object Grounding (UAV4)", "question": "Where is the cluster of black vehicles positioned relative to the elevated railway structure?", "options": { "A": "The black vehicles are positioned beneath the elevated railway structure", "B": "The black vehicles are positioned next to the elevated railway structure on the lower right side", "C": "The black vehicles are scattered across different lanes away from the elevated railway structure", "D": "The black vehicles are positioned on the upper left corner of the intersection" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "This image shows an urban intersection viewed from above with several vehicles on the road. A cluster of black vehicles is located next to the elevated railway structure on the lower right side of the scene. 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UAV4 shows the same silver sedan approaching an intersection, still traveling along the middle lane.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "MDMT_OC_UAV4_6", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "10", "B": "12", "C": "15", "D": "13" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "MDMT_OG_UAV4_6", "question_type": "2.3 Object Grounding (UAV4)", "question": "What is the position of the green vehicles relative to each other in the middle lane?", "options": { "A": "The two green vehicles are side by side in the same lane", "B": "The rear green vehicle is directly behind the front green vehicle in the same lane", "C": "The rear green vehicle is diagonally positioned relative to the front green vehicle in adjacent lanes", "D": "The two green vehicles are in different lanes and not aligned" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a road with multiple lanes. Two green vehicles are positioned in the middle lane, one directly ahead of the other. The road is flanked by rows of brown-roofed buildings on the left and an elevated railway on the right.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "MDMT_OM_UAV4_6", "question_type": "2.4 Object Matching (UAV4)", "question": "Which object in another UAV's view corresponds to the green sedan seen driving in the left lane towards the intersection in UAV4?", "options": { "A": "The green sedan now seen driving away in the left lane near residential buildings in UAV5", "B": "The green sedan now seen stopped in the right lane near a crosswalk in UAV3", "C": "The blue sedan now seen approaching the intersection in UAV2", "D": "The green sedan now seen parked along the curb near the high-rise buildings in UAV1" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows a green sedan driving in the left lane towards the intersection; UAV5 shows the same green sedan driving away in the left lane near residential buildings.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "MDMT_OC_UAV5_6", "question_type": "2.2 Object Counting (UAV5)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV5's perspective?", "options": { "A": "13", "B": "15", "C": "10", "D": "14" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "MDMT_OR_UAV5_6", "question_type": "2.1 Object Recognition (UAV5)", "question": "Which prominent vehicle in the scene is blue in color?", "options": { "A": "A blue compact hatchback", "B": "A blue truck", "C": "A blue sedan", "D": "A blue convertible" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image captures a view of an urban street with multiple vehicles visible. The scene includes a large building on the left, trees lining the road, and green fenced residential areas on the right. 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Buildings are visible behind the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107791289598720.png", "question_id": "MDMT_OR_UAV2_8", "question_type": "2.1 Object Recognition (UAV2)", "question": "What type of prominent non-vehicle object is visible directly beneath the elevated railway tracks?", "options": { "A": "Pedestrians", "B": "Small houses or sheds", "C": "Bicycles", "D": "Street barriers" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows an urban scene with elevated railway tracks supported by metal beams. 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A road with multiple lanes is visible in the foreground, containing various vehicles including sedans and SUVs.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107791289598720.png", "question_id": "MDMT_OM_UAV2_8", "question_type": "2.4 Object Matching (UAV2)", "question": "Which static object in another UAV's view corresponds to the small traffic light located next to the elevated railway structure in UAV2?", "options": { "A": "The same traffic light seen closer and next to the multi-story residential buildings in UAV3", "B": "A different traffic light located near the roundabout in UAV4", "C": "The same traffic light seen next to the corner of the block with smaller houses in UAV5", "D": "A smaller, non-functional traffic light seen near the park area in UAV1" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows an elevated railway with a small traffic light positioned next to its base; UAV5 captures the same traffic light from a different angle near the corner of a block containing smaller houses.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107791289598720.png", "question_id": "MDMT_OC_UAV3_8", "question_type": "2.2 Object Counting (UAV3)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV3's perspective?", "options": { "A": "19", "B": "21", "C": "20", "D": "22" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107791289598720.png", "question_id": "MDMT_OG_UAV3_8", "question_type": "2.3 Object Grounding (UAV3)", "question": "Where is the house with the red roof located relative to the house with the white roof in this scene?", "options": { "A": "The house with the red roof is diagonally across the street and slightly farther from the intersection compared to the house with the white roof.", "B": "The house with the red roof is directly beside the house with the white roof on the same side of the street.", "C": "The house with the red roof is directly across the street from the house with the white roof, near the intersection.", "D": "The house with the red roof is farther down the street on the same side as the house with the white roof." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "A neighborhood scene showing multiple houses with different roof colors. 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A single black sedan is visible driving on the right-side road, apart from other clustered vehicles at the intersection.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OC_UAV1_9", "question_type": "2.2 Object Counting (UAV1)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV1's perspective?", "options": { "A": "13", "B": "12", "C": "14", "D": "10" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OC_UAV2_9", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "12", "B": "11", "C": "10", "D": "9" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OG_UAV2_8", "question_type": "2.3 Object Grounding (UAV2)", "question": "What is the position of the yellow car relative to the red-brick buildings in the lower left?", "options": { "A": "The yellow car is traveling in front of the row of red-brick buildings", "B": "The yellow car is positioned to the right of the red-brick buildings on the main road", "C": "The yellow car is behind the red-brick buildings in the parking lot area", "D": "The yellow car is on a side street parallel to the red-brick buildings" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a bird's-eye view of a neighborhood. 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Vehicles are visible on the roads, but the green spaces are predominantly occupied by trees. No bicycles, pedestrians, or benches are seen in the green spaces.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OM_UAV3_9", "question_type": "2.4 Object Matching (UAV3)", "question": "Which object in another UAV's view corresponds to the small white car behind the red car on the curved road in UAV3?", "options": { "A": "The small white car now at the stop sign in UAV2, turning left", "B": "The small white car seen further ahead on the straight road in UAV4, overtaking a green car", "C": "The small gray sedan seen near the intersection in UAV5, parked close to the curb", "D": "The red car now seen at a crosswalk in UAV2, waiting for pedestrians" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 displays a curved road with a red car followed closely by a small white car; UAV4 later shows the same white car further ahead on a straight road, overtaking a green car.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OR_UAV4_9", "question_type": "2.1 Object Recognition (UAV4)", "question": "Which type of prominent non-vehicle object is visible in the scene?", "options": { "A": "Benches", "B": "Streetlights", "C": "Traffic signals", "D": "Bus stops" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a city street captured from an aerial view. Key objects include vehicles on the road, benches in a pedestrian area, streetlights lining the sidewalk, and surrounding green spaces with trees. Buildings and open areas are visible on either side of the street.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OG_UAV4_8", "question_type": "2.3 Object Grounding (UAV4)", "question": "What is the relative position of the red car compared to the white van on the road in this scene?", "options": { "A": "The red car is behind the white van in the same lane", "B": "The red car is driving alongside the white van in an adjacent lane", "C": "The red car is ahead of the white van in a different lane", "D": "The red car is parked off the road while the white van is moving" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "In the image from UAV4, a red car is seen driving behind a white van in the same lane on a multi-lane road. The surrounding area includes a large apartment building, green spaces with trees, and smaller residential buildings.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OR_UAV5_9", "question_type": "2.1 Object Recognition (UAV5)", "question": "What type of non-vehicle object is most prominently visible along the sidewalk in the scene?", "options": { "A": "Street lamps", "B": "Pedestrians", "C": "Bicycles", "D": "Trash bins" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image displays an urban road flanked by buildings with visible street lamps along the sidewalks. Multiple vehicles are seen driving on the road, and no pedestrians or cyclists are present.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OG_UAV5_8", "question_type": "2.3 Object Grounding (UAV5)", "question": "What is the position of the green car relative to the beige car in this image?", "options": { "A": "The green car is parked directly in front of the beige car in the same lane", "B": "The green car is positioned ahead of the beige car in a different lane", "C": "The green car is located behind the beige car in the same lane", "D": "The green car is parked to the left of the beige car in the adjacent lane" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a multi-lane road with several cars traveling along it. A green car is positioned behind a beige car, both of which are in the leftmost lane, while other vehicles are visible further down the road in various lanes. The scene includes buildings on both sides and a visible intersection ahead.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OM_UAV5_9", "question_type": "2.4 Object Matching (UAV5)", "question": "Which object in another UAV's view corresponds to the green sedan positioned behind the white SUV in UAV5?", "options": { "A": "The green sedan now seen driving past the residential area in UAV2", "B": "The green sedan now seen in isolation, approaching the red brick buildings in UAV3", "C": "The green sedan now seen turning left at the intersection near the roundabout in UAV4", "D": "The green sedan now parked on the curb next to palm trees in UAV2" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV5 shows a green sedan positioned behind a white SUV. In UAV3, the same green sedan is seen driving in isolation near red brick buildings. UAV2 and UAV4 depict other vehicles, with no direct match to the green sedan from UAV5.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624108954431890688.png", "question_id": "MDMT_OC_UAV2_10", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "33", "B": "31", "C": "29", "D": "28" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108954431890688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108954431890688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108954431890688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108954431890688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108954431890688-UAV5.png" } }, { "sequence_frame": "3-40m-1624108954431890688.png", "question_id": "MDMT_OM_UAV2_10", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the circular monument seen near the intersection in UAV2?", "options": { "A": "The circular monument seen from the rear perspective near houses in UAV3", "B": "The circular monument now partially blocked by trees in UAV4", "C": "The tall black building seen near the road intersection in UAV3", "D": "The circular monument clearly visible near the open plaza in UAV5" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows a circular monument positioned near a road intersection, surrounded by few cars and buildings, while UAV4 depicts the same monument now partially blocked by trees.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108954431890688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108954431890688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108954431890688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108954431890688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108954431890688-UAV5.png" } }, { "sequence_frame": "3-40m-1624108954431890688.png", "question_id": "MDMT_OC_UAV4_10", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "34", "B": "32", "C": "31", "D": "33" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108954431890688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108954431890688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108954431890688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108954431890688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108954431890688-UAV5.png" } }, { "sequence_frame": "3-40m-1624108954431890688.png", "question_id": "MDMT_OR_UAV4_10", "question_type": "2.1 Object Recognition (UAV4)", "question": "What type of non-vehicle object is prominently visible near the building in this scene?", "options": { "A": "A trash bin", "B": "A streetlight", "C": "A tree", "D": "A pedestrian bench" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a multi-story building surrounded by a stone wall. A trash bin is visible outside the wall near the pavement, along with several trees lining the street. Cars are traveling on the road, and a residential area with smaller houses can be seen on the right.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108954431890688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108954431890688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108954431890688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108954431890688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108954431890688-UAV5.png" } }, { "sequence_frame": "3-40m-1624108954431890688.png", "question_id": "MDMT_OG_UAV4_9", "question_type": "2.3 Object Grounding (UAV4)", "question": "What is the relative position of the blue car on the road in relation to the black car close to the building?", "options": { "A": "The blue car is positioned in the same lane, ahead of the black car", "B": "The blue car is directly behind the black car in the same lane", "C": "The blue car is in the adjacent lane, parallel to the black car", "D": "The blue car is parked off the road near the black car" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts a multi-lane road with several cars, including a blue car slightly behind a black car. The black car is near a large building surrounded by a stone wall and a spacious courtyard. 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UAV3 captures the same blue sedan stopped at a roundabout near an office building.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108954431890688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108954431890688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108954431890688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108954431890688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108954431890688-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_OC_UAV1_11", "question_type": "2.2 Object Counting (UAV1)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV1's perspective?", "options": { "A": "27", "B": "28", "C": "32", "D": "29" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_OG_UAV1_11", "question_type": "2.3 Object Grounding (UAV1)", "question": "What is the relative position of the house with a red roof within the scene?", "options": { "A": "It is located to the north-west of the multi-lane road", "B": "It is positioned on the eastern side of the fenced area", "C": "It is adjacent to the smaller structure near the trees", "D": "It is directly south of the large intersection" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a residential area with a house that has a red roof, situated within a fenced area on the eastern side, surrounded by grass and trees. A multi-lane road runs parallel to the fenced area, and a large intersection connects nearby streets.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_OG_UAV2_10", "question_type": "2.3 Object Grounding (UAV2)", "question": "Where is the circular fountain located relative to the nearby skyscraper in this scene?", "options": { "A": "The fountain is located directly in front of the skyscraper", "B": "The fountain is located at the intersection across from the skyscraper", "C": "The fountain is positioned behind the skyscraper", "D": "The fountain is directly adjacent to the skyscraper on the same side" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a circular fountain in the middle of an intersection surrounded by roads. A tall glass skyscraper is located on the right side near the intersection.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_OC_UAV3_11", "question_type": "2.2 Object Counting (UAV3)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV3's perspective?", "options": { "A": "26", "B": "29", "C": "32", "D": "28" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_OC_UAV4_11", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "31", "B": "26", "C": "28", "D": "29" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_OG_UAV5_10", "question_type": "2.3 Object Grounding (UAV5)", "question": "Where is the red car located relative to the building on the right side of the road?", "options": { "A": "The red car is positioned directly in front of the building", "B": "The red car is in the lane closest to the building on the right", "C": "The red car is farthest from the building and closest to the center of the road", "D": "The red car is parked on the building's entrance" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image depicts a multi-lane road flanked by tall buildings. There is a red car located in one of the lanes closest to the building on the right. Several other cars are visible, along with streetlights and a sidewalk.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624111375755501568.png", "question_id": "MDMT_OC_UAV1_12", "question_type": "2.2 Object Counting (UAV1)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV1's perspective?", "options": { "A": "12", "B": "13", "C": "17", "D": "15" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624111375755501568-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624111375755501568-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624111375755501568-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624111375755501568-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624111375755501568-UAV5.png" } }, { "sequence_frame": "3-40m-1624111375755501568.png", "question_id": "MDMT_OM_UAV2_12", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the group of pedestrians walking near the hedge in UAV2?", "options": { "A": "The group of pedestrians now seen crossing the street in UAV3 near the railway track.", "B": "The group of pedestrians now standing near the apartment buildings in UAV5.", "C": "The cyclists seen riding past the railway track in UAV4.", "D": "The group of pedestrians now walking along the open square next to buildings in UAV1." }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows a group of pedestrians walking near a hedge, close to the garden area surrounded by houses. In UAV1, the same group of pedestrians is now walking along an open square next to buildings on the far side of the street.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624111375755501568-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624111375755501568-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624111375755501568-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624111375755501568-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624111375755501568-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OC_UAV1_13", "question_type": "2.2 Object Counting (UAV1)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV1's perspective?", "options": { "A": "23", "B": "21", "C": "22", "D": "24" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OG_UAV1_13", "question_type": "2.3 Object Grounding (UAV1)", "question": "Which house is located directly to the right of the red-roofed house in this scene?", "options": { "A": "The house with the gray roof", "B": "The house with the glass dome on its roof", "C": "The house with the brown roof and garage", "D": "The house with the tan roof and fenced yard" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a neighborhood viewed from above. There are five houses in a row divided by fences, with the red-roofed house in the middle surrounded by green yards, trees, and a road in the background.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OM_UAV1_13", "question_type": "2.4 Object Matching (UAV1)", "question": "Which object in another UAV's view corresponds to the house with a reddish-orange roof located in the center of UAV1's view?", "options": { "A": "The reddish-orange house now seen from the side near the main road in UAV3", "B": "The house with a red roof near a fenced yard in UAV4", "C": "The reddish-orange house located next to a white building in UAV2", "D": "The house with an orange roof adjacent to a lawn near the elevated train tracks in UAV5" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV1 shows a neighborhood with multiple houses, one distinct house having a reddish-orange roof in its center. UAV3 provides a different perspective, showing the same reddish-orange house from the side near a main road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OC_UAV2_13", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "21", "B": "20", "C": "18", "D": "19" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OR_UAV2_13", "question_type": "2.1 Object Recognition (UAV2)", "question": "Which type of vehicle is most prominently visible in the middle lanes of the road in this image?", "options": { "A": "A black sedan", "B": "A red hatchback", "C": "A white van", "D": "A yellow truck" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a multi-lane road with several vehicles, including a prominent black sedan in the middle lanes. Surrounding the road are modern buildings and a traffic intersection.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OG_UAV2_12", "question_type": "2.3 Object Grounding (UAV2)", "question": "What is the spatial position of the parked black car relative to the nearby red car in this scene?", "options": { "A": "The black car is parked in a lane next to the red car", "B": "The black car is ahead of the red car in the same lane", "C": "The black car is parked in the same lane behind the red car", "D": "The black car is on the opposite side of the road from the red car" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts a road with multiple lanes. A black car is parked in the same lane behind a red car. There are several buildings and sidewalks visible in the surrounding area.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OM_UAV2_13", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the large, leafy tree visible near the apartment buildings in UAV2?", "options": { "A": "The same large, leafy tree now seen near the row of smaller houses and fences in UAV3", "B": "A small bush located near the park in UAV4", "C": "A similar-looking tree positioned closer to the railway overpass in UAV5", "D": "The tree now visible near the roundabout intersection in UAV1" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows a large, leafy tree near apartment buildings; UAV3 shows the same tree near smaller houses and fenced yards. UAV4 and UAV5 depict different trees, including one near the railway overpass and one near a roundabout.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OC_UAV3_13", "question_type": "2.2 Object Counting (UAV3)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV3's perspective?", "options": { "A": "23", "B": "24", "C": "21", "D": "22" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OR_UAV3_13", "question_type": "2.1 Object Recognition (UAV3)", "question": "What type of vehicle is visible closest to the bottom-right of the image?", "options": { "A": "A gray sedan", "B": "A black SUV", "C": "A white pickup truck", "D": "A silver hatchback" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image, captured from UAV perspective, features a scene with residential houses, a road running parallel to elevated train tracks, and vehicles on the road. Closest to the bottom-right, there are two cars: a gray sedan and a black SUV.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OM_UAV3_13", "question_type": "2.4 Object Matching (UAV3)", "question": "Which object in another UAV's view corresponds to the white shed in the backyard of the house closest to the road in UAV3?", "options": { "A": "The white shed seen from overhead near the curved road in UAV4", "B": "The greenhouse structure located at the back of a larger building in UAV5", "C": "The white shed partially occluded by trees near the houses in UAV2", "D": "The garage located across the street from the houses in UAV1" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 shows a white shed in the backyard of the house nearest the road. UAV2 shows the same white shed partially occluded by trees near similar houses. Other UAV views include ambiguous or unrelated structures.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OC_UAV4_13", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "22", "B": "19", "C": "21", "D": "18" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OG_UAV4_12", "question_type": "2.3 Object Grounding (UAV4)", "question": "Where is the green car positioned relative to the intersection in this scene?", "options": { "A": "The green car is stopped directly inside the intersection", "B": "The green car is positioned ahead of the intersection on the right-hand side", "C": "The green car is located behind the intersection in the left lane", "D": "The green car is parked at the side of the road past the intersection" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image depicts an urban scene viewed from above. Key objects include an intersection with visible road markings, buildings on either side, and an elevated train track. Multiple vehicles are present. The green car is positioned on the road ahead of the intersection in the right-hand lane.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OC_UAV5_13", "question_type": "2.2 Object Counting (UAV5)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV5's perspective?", "options": { "A": "23", "B": "19", "C": "22", "D": "21" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OC_UAV2_14", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "23", "B": "24", "C": "22", "D": "19" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OM_UAV2_14", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the yellow hatchback waiting at the intersection in UAV2?", "options": { "A": "The yellow hatchback now seen driving away from the intersection in UAV3", "B": "The yellow hatchback now parked near the green yard in UAV4", "C": "The yellow hatchback now seen from above, idling near the red plaza in UAV5", "D": "The black sedan following the hatchback closely in UAV3" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "In UAV2, a yellow hatchback is visibly stationary at the intersection. In UAV3, the same yellow hatchback is seen driving away from the intersection towards the left lane. UAV4 and UAV5 show other objects but not the given hatchback.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OC_UAV3_14", "question_type": "2.2 Object Counting (UAV3)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV3's perspective?", "options": { "A": "23", "B": "22", "C": "21", "D": "19" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OR_UAV3_14", "question_type": "2.1 Object Recognition (UAV3)", "question": "What type of non-vehicle object is located in the green yard near the central row of white houses?", "options": { "A": "A fountain", "B": "A garden shed", "C": "A circular water well", "D": "A children's playground" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "This image captures an aerial view of a residential area with several white houses aligned in rows, surrounded by green yards and trees. A circular water well is prominently visible in the yard near the central row of houses. There are vehicles moving on adjacent roads and red-roofed buildings located nearby.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OC_UAV4_14", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "22", "B": "25", "C": "24", "D": "21" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OR_UAV4_14", "question_type": "2.1 Object Recognition (UAV4)", "question": "What type of vehicle is parked closest to the roundabout in this scene?", "options": { "A": "A black sedan", "B": "A white van", "C": "A green SUV", "D": "A red truck" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The aerial image shows a suburban area with a roundabout containing a modern sculpture surrounded by water. Four white houses with identical designs are located near the road. Vehicles are visible on multiple roads, including a black sedan closest to the roundabout, a green SUV farther away, and other cars scattered across the roads.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OG_UAV4_13", "question_type": "2.3 Object Grounding (UAV4)", "question": "What is the spatial position of the fountain relative to the adjacent buildings in the scene?", "options": { "A": "The fountain is located to the left of the residential houses", "B": "The fountain is positioned in front of the commercial buildings", "C": "The fountain is behind the residential houses", "D": "The fountain is diagonally opposite to the commercial buildings" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a neighborhood with a series of residential houses on a grassy area to the left, commercial buildings on the right side, and a fountain at the center of the roundabout in front of the commercial buildings.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OM_UAV5_14", "question_type": "2.4 Object Matching (UAV5)", "question": "Which object in another UAV's view corresponds to the pedestrian waiting near the red umbrellas visible in UAV5?", "options": { "A": "The pedestrian now walking on the sidewalk near the white building in UAV2", "B": "The pedestrian now standing near the entrance of the park in UAV3", "C": "The pedestrian now walking along the side of the fountain in UAV4", "D": "The pedestrian now standing near a yellow car in UAV1" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV5 shows a pedestrian waiting near red umbrellas in a shaded area; UAV4 reveals the same pedestrian walking alongside the fountain in a much brighter and open environment.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OR_UAV1_15", "question_type": "2.1 Object Recognition (UAV1)", "question": "What type of prominent building structure is visible in the scene?", "options": { "A": "Modern apartment buildings", "B": "Traditional single-story cottages", "C": "Large industrial factories", "D": "Glass skyscrapers" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene captures a stretch of road with multiple vehicles, adjacent to modern apartment buildings with white walls and black roofs, and nearby traditional single-story cottages with sloped roofs. A rusty elevated railway track runs parallel, and the view includes open grassy areas and surrounding urban structures.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OG_UAV1_15", "question_type": "2.3 Object Grounding (UAV1)", "question": "What is the spatial relationship between the white residential buildings and the elevated rusted bridge in this scene?", "options": { "A": "The white residential buildings are situated directly underneath the elevated rusted bridge", "B": "The white residential buildings are located parallel to the elevated rusted bridge on the left side", "C": "The white residential buildings are to the right of the elevated rusted bridge and separated by grass", "D": "The white residential buildings are behind the elevated rusted bridge, further away from the roundabout" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows white residential buildings positioned to the right of an elevated rusted bridge, separated by a grassy area. The bridge runs horizontally above the grassy terrain. A roundabout and lane-driving vehicles are visible adjacent to the buildings and grass.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OC_UAV2_15", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "2", "B": "3", "C": "4", "D": "5" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OR_UAV2_15", "question_type": "2.1 Object Recognition (UAV2)", "question": "What type of vehicle is most prominently visible traveling on the road in this UAV view?", "options": { "A": "A black sedan", "B": "A green SUV", "C": "A purple hatchback", "D": "A blue pickup truck" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows an urban intersection viewed from above. Key objects include multiple buildings, a grassy park area, and three vehicles including a black sedan, a purple hatchback, and a blue sedan traveling on the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OG_UAV2_14", "question_type": "2.3 Object Grounding (UAV2)", "question": "What is the position of the black car relative to the pink car in this scene?", "options": { "A": "The black car is directly behind the pink car in the same lane", "B": "The black car is beside the pink car, in the adjacent lane", "C": "The black car is ahead of the pink car in the same lane", "D": "The black car is positioned diagonally across from the pink car" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV2 view shows a road intersection with several cars. A black car is closely following a pink car in the same lane, positioned directly behind it. The road runs between two buildings and leads towards a grassy area on the right.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OM_UAV2_15", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the row of trees lining the right-hand side of the street in UAV2?", "options": { "A": "The row of trees now visible along the left-hand side of the street in UAV3", "B": "The row of trees seen closer to residential houses and fences in UAV4", "C": "The row of trees shown near a large commercial building in UAV5", "D": "The row of trees lining the central divider in UAV3" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 displays a row of trees lining the right-hand side of the street near an open area and a commercial building. UAV4 shows the same row of trees adjacent to residential houses and fences.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OG_UAV3_14", "question_type": "2.3 Object Grounding (UAV3)", "question": "Where is the white vehicle located relative to the red car closest to the curved wall in this scene?", "options": { "A": "The white vehicle is behind the red car on the same curved road", "B": "The white vehicle is parked on the opposite side of the curved road", "C": "The white vehicle is in front of the red car within the same lane", "D": "The white vehicle is beside the red car at the intersection" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts an urban area with a curved road and buildings. A white vehicle is driving behind a red car on the curved road near a large wall and green spaces.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OG_UAV4_14", "question_type": "2.3 Object Grounding (UAV4)", "question": "What is the spatial relationship between the yellow car and the house with the orange roof in this scene?", "options": { "A": "The yellow car is directly opposite the house with the orange roof across the road", "B": "The yellow car is parked adjacent to the house with the orange roof in the same fenced area", "C": "The yellow car is behind the house with the orange roof on the same side of the road", "D": "The yellow car is further down the street and not near the house with the orange roof" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene features a multi-lane road dividing two distinct areas: residential properties with fenced lawns on one side and larger buildings with paved surfaces on the other. A yellow car is parked on the road opposite the house with the orange roof, which is situated within a fenced area.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OM_UAV4_15", "question_type": "2.4 Object Matching (UAV4)", "question": "Which object in another UAV's view corresponds to the yellow car driving along the right lane near the row of trees in UAV4?", "options": { "A": "The yellow car now seen turning towards the intersection near the white buildings in UAV2", "B": "The red car seen stopped at the roundabout near the green park in UAV3", "C": "The yellow car now parked beside the gray building near the road curvature in UAV5", "D": "The green car seen moving toward the high-rise buildings in UAV1" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows a yellow car driving along the right lane parallel to a row of small trees and houses. UAV2 shows the same yellow car turning towards the intersection, visible near white residential buildings.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OC_UAV5_15", "question_type": "2.2 Object Counting (UAV5)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV5's perspective?", "options": { "A": "1", "B": "4", "C": "2", "D": "3" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OR_UAV5_15", "question_type": "2.1 Object Recognition (UAV5)", "question": "What type of vehicle is visible on the road near the middle portion of the image?", "options": { "A": "A black sedan", "B": "A red sports car", "C": "A gray minivan", "D": "A white pickup truck" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image captures a UAV perspective over a neighborhood with roads, trees, and buildings. In the middle of the scene, a black sedan is driving along a road lined with trees. Residential houses are visible to the right, and a concrete plaza with trees appears on the left.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OR_UAV1_16", "question_type": "2.1 Object Recognition (UAV1)", "question": "What type of prominent non-vehicle object is visible near the center of the image?", "options": { "A": "A pedestrian", "B": "A cyclist", "C": "A bus stop structure", "D": "A streetlight pole" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts an intersection with several vehicles on a multi-lane road. Near the center of the image, there is a large modern structure resembling a bus stop or station, with several smaller building-like structures nearby.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OC_UAV2_16", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "6", "B": "10", "C": "8", "D": "9" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OG_UAV2_15", "question_type": "2.3 Object Grounding (UAV2)", "question": "Where are the red cargo containers located relative to the nearby buildings in the scene?", "options": { "A": "The red cargo containers are positioned in front of the tall black building with glass windows", "B": "The red cargo containers are situated in front of the smaller white-colored building across the road", "C": "The red cargo containers are placed along the side of the tall brown building near the intersection", "D": "The red cargo containers are located on the grassy park area under the trees nearby" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows red cargo containers positioned along the side of a tall brown building near an intersection in a busy urban area. There are multiple buildings of varying heights, roads, and a grassy park area with trees visible in the scene.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OM_UAV2_16", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the white car seen turning left at the intersection in UAV2?", "options": { "A": "The white car now seen traveling straight on the road near the train tracks in UAV3", "B": "The white car now seen parked near the modern fountain in UAV5", "C": "The white car now seen driving in front of the row of residential houses in UAV4", "D": "The white van now seen turning at the intersection near the commercial buildings in UAV2" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows the white car turning left at a major intersection near the tall black building; UAV3 shows the same white car traveling straight on the road parallel to the train tracks.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OC_UAV3_16", "question_type": "2.2 Object Counting (UAV3)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV3's perspective?", "options": { "A": "10", "B": "9", "C": "8", "D": "5" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OG_UAV3_15", "question_type": "2.3 Object Grounding (UAV3)", "question": "Where are the row of identical white buildings with red roofs positioned relative to the curved road leading to the residential houses?", "options": { "A": "The white buildings are located directly next to the curved road", "B": "The white buildings are positioned on the opposite side of the curved road, near the residential houses", "C": "The white buildings are positioned on the open green space perpendicular to the curved road", "D": "The white buildings are located between the curved road and the larger rectangular building" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a row of identical white buildings with red roofs located on open green space perpendicular to a curved road that leads to a cluster of residential houses. There are larger buildings visible on the right side of the scene, near a broader road with vehicles.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OC_UAV5_16", "question_type": "2.2 Object Counting (UAV5)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV5's perspective?", "options": { "A": "9", "B": "11", "C": "7", "D": "8" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OR_UAV5_16", "question_type": "2.1 Object Recognition (UAV5)", "question": "What type of prominent non-vehicle object is located at the center of the roundabout?", "options": { "A": "A fountain structure", "B": "A sculpture of a human figure", "C": "A large tree", "D": "A billboard" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a circular roundabout surrounded by roads with visible vehicles and buildings. 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There are scattered green trees throughout the scene.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629096982293769472-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629096982293769472-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629096982293769472-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629096982293769472-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629096982293769472-UAV5.png" } }, { "sequence_frame": "4-40m-1629096982293769472.png", "question_id": "MDMT_OG_UAV2_19", "question_type": "2.3 Object Grounding (UAV2)", "question": "Where is the rocky cliff located relative to the curved road in the bottom section of the scene?", "options": { "A": "The rocky cliff is situated directly above the curved road", "B": "The rocky cliff is located to the right of the curved road", "C": "The rocky cliff is below and adjacent to the curved road", "D": "The rocky cliff is in the center of the curved road" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a UAV perspective capturing a rocky cliff positioned above a curved road in the bottom section of the scene. 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The prominent white structure is surrounded by an apartment complex, parking lot, and smaller houses nearby.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629096982293769472-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629096982293769472-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629096982293769472-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629096982293769472-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629096982293769472-UAV5.png" } }, { "sequence_frame": "4-40m-1629096982293769472.png", "question_id": "MDMT_OM_UAV4_20", "question_type": "2.4 Object Matching (UAV4)", "question": "Which object in another UAV’s view corresponds to the white apartment building surrounded by a circular road found in UAV4’s view?", "options": { "A": "The white apartment building seen from the backside near a row of parked cars in UAV3’s view", "B": "The red rooftop building seen next to a circular road in UAV2’s view", "C": "The small white house located near a wooded area in UAV5’s view", "D": "The white apartment building seen from a higher elevation next to a shopping complex in UAV1’s view" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows a white apartment building enclosed by a circular road surrounded by trees and residential houses. 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Behind the rocky terrain, there is a cluster of houses near the center at a slightly higher elevation. To the right is a river and a road adjacent to the houses.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629096982293769472-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629096982293769472-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629096982293769472-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629096982293769472-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629096982293769472-UAV5.png" } }, { "sequence_frame": "4-40m-1629097589330443008.png", "question_id": "MDMT_OC_UAV1_21", "question_type": "2.2 Object Counting (UAV1)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV1's perspective?", "options": { "A": "54", "B": "58", "C": "57", "D": "60" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629097589330443008-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629097589330443008-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629097589330443008-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629097589330443008-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629097589330443008-UAV5.png" } }, { "sequence_frame": "4-40m-1629097589330443008.png", "question_id": "MDMT_OR_UAV1_21", "question_type": "2.1 Object Recognition (UAV1)", "question": "What type of vehicle is most prominently visible parked along the road?", "options": { "A": "A red pickup truck", "B": "A silver sedan", "C": "A blue sports car", "D": "A black SUV" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts a winding road with multiple parked vehicles visible along its edge. 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Several vehicles are visible on the road, including a yellow bus near the bottom-right corner, a few cars, and other small vehicles scattered across the lanes.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629125437038686464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629125437038686464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629125437038686464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629125437038686464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629125437038686464-UAV5.png" } }, { "sequence_frame": "4-40m-1629125437038686464.png", "question_id": "MDMT_OG_UAV5_23", "question_type": "2.3 Object Grounding (UAV5)", "question": "Where is the orange crane positioned relative to the cars in the adjacent lanes?", "options": { "A": "The orange crane is stationed directly above the cars in the lanes at the center of the intersection", "B": "The orange crane is positioned to the side of the cars near the exit ramp", "C": "The orange crane is located below the bridge near the turning lanes", "D": "The orange crane is beside the cars but closer to the rocky hill area" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "An intersection surrounded by forested terrain and rocky hills, with cars positioned across multiple lanes. An orange crane is situated near the exit ramp of the intersection.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629125437038686464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629125437038686464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629125437038686464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629125437038686464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629125437038686464-UAV5.png" } }, { "sequence_frame": "4-40m-1629125437038686464.png", "question_id": "MDMT_OM_UAV5_24", "question_type": "2.4 Object Matching (UAV5)", "question": "The group of trees forming a triangular cluster at the bottom-right corner of UAV5's view corresponds to which object in another UAV's view?", "options": { "A": "The same cluster of trees now seen near a residential area in UAV2", "B": "The pine trees visible in UAV4, located along the cliff edge", "C": "The single large tree seen closer to the curved road in UAV3", "D": "The group of trees located on the left side near a rocky field in UAV1" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV5 shows a triangular cluster of trees at the bottom-right corner near a cliff; UAV4 provides a closer view of the same trees near the cliff edge, clearly identifiable by their positioning.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629125437038686464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629125437038686464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629125437038686464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629125437038686464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629125437038686464-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OR_UAV1_25", "question_type": "2.1 Object Recognition (UAV1)", "question": "What is the most prominent type of non-vehicle object visible in this scene?", "options": { "A": "Pedestrian", "B": "Cyclist", "C": "Traffic light", "D": "Tree" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a multi-lane road junction surrounded by dense greenery and hills, with various vehicles on the road. Alongside the roads, tall trees are prominently visible as part of the landscape.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OG_UAV1_25", "question_type": "2.3 Object Grounding (UAV1)", "question": "Which vehicle is positioned closest to the intersection located at the center of the scene?", "options": { "A": "A black car moving on the upper-left road", "B": "A yellow truck near the center of the intersection", "C": "A red car traveling on the upper-right road", "D": "A purple car on the lower road beneath the intersection" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image depicts a large intersection surrounded by forested terrain. Several vehicles are visible across multiple lanes, including a black car on the upper-left road, red and yellow vehicles near the intersection, and a purple car on the lower road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OC_UAV2_25", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "34", "B": "37", "C": "36", "D": "35" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OG_UAV3_24", "question_type": "2.3 Object Grounding (UAV3)", "question": "What is the position of the apartment buildings relative to the cliff in this scene?", "options": { "A": "The apartment buildings are situated directly on top of the cliff", "B": "The apartment buildings are located below the cliff near the curved road", "C": "The apartment buildings are adjacent to the cliff on its elevated side", "D": "The apartment buildings are far away and separated from the cliff entirely" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a cliff with trees, a curved road below, and apartment buildings positioned on an elevated area adjacent to the cliff.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OR_UAV4_25", "question_type": "2.1 Object Recognition (UAV4)", "question": "What is the most prominent non-vehicle object type visible in the foreground of this scene?", "options": { "A": "Pedestrian", "B": "Tree", "C": "Bicycle", "D": "Building" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image depicts a landscape with a dense collection of trees in the foreground, rocky terrain interspersed with greenery, and a town with buildings and roads in the background.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OM_UAV4_25", "question_type": "2.4 Object Matching (UAV4)", "question": "Which object in another UAV's view corresponds to the black sedan seen traveling on the lower highway in UAV4's perspective?", "options": { "A": "The black sedan now seen turning left from the upper highway in UAV3", "B": "The black SUV now seen driving along the curve near the forest in UAV2", "C": "The black sedan now stationary near the entrance to a parking lot in UAV5", "D": "The red sports car now seen overtaking vehicles on the upper highway in UAV3" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows a black sedan traveling on the lower highway amidst sparse traffic; 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Surrounding the road are trees, rock formations, and a small residential area in the background. Several rock formations are visible near the edge of the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OG_UAV5_24", "question_type": "2.3 Object Grounding (UAV5)", "question": "Where is the light blue car positioned relative to the rocky hill in the scene?", "options": { "A": "The light blue car is near the base of the rocky hill, directly adjacent to a tree", "B": "The light blue car is on the road, located away from the rocky hill", "C": "The light blue car is on a bridge connecting to the rocky hill", "D": "The light blue car is parked at the top of the rocky hill" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene features a multi-lane road with various cars, a prominent rocky hill surrounded by vegetation, and buildings in the background.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OM_UAV5_25", "question_type": "2.4 Object Matching (UAV5)", "question": "In UAV5's view, there is a cyclist riding near the curved intersection. Which object in another UAV's view corresponds to this cyclist?", "options": { "A": "The cyclist now seen riding alongside the houses in UAV3", "B": "The cyclist now seen crossing the bridge in UAV2", "C": "The cyclist now stationary near the parking lot in UAV4", "D": "The cyclist now seen moving away from the forest area in UAV1" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV5 shows a cyclist riding close to the curved intersection. UAV3 shows the same cyclist heading past the row of houses visible from above, while UAV2 and UAV4 show different cyclists in unrelated contexts.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_OG_UAV1_26", "question_type": "2.3 Object Grounding (UAV1)", "question": "What is the spatial relationship of the cluster of houses relative to the rocky hill in this scene?", "options": { "A": "The cluster of houses is located to the northwest of the rocky hill", "B": "The cluster of houses is positioned directly south of the rocky hill", "C": "The cluster of houses is northeast of the rocky hill near the parking area", "D": "The cluster of houses is to the southwest of the rocky hill surrounded by trees" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts a rocky hill surrounded by trees in the upper left corner, a cluster of houses in the northeast area, and a parking zone nearby. Roads surround the site, with vehicles visible on the streets.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_OC_UAV2_26", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "54", "B": "58", "C": "55", "D": "53" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_OR_UAV2_26", "question_type": "2.1 Object Recognition (UAV2)", "question": "What type of non-vehicle object is most prominently visible near the parking lot area?", "options": { "A": "A group of trees", "B": "A pedestrian walkway", "C": "A bicycle rack", "D": "A large playground" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a parking lot surrounded by multiple buildings, with a group of trees prominently visible near the lot. Additional details include roads leading to the parking area and residential buildings in the background.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_OM_UAV2_26", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV’s view corresponds to the pedestrian walking along the pathway near the cluster of small residential buildings in UAV2?", "options": { "A": "The pedestrian now seen standing near the entrance of the parking lot in UAV3", "B": "The cyclist riding near the large intersection in UAV4", "C": "The pedestrian now seen walking along the edge of the lake near the curved road in UAV5", "D": "The pedestrian now seen approaching the traffic light near the commercial area in UAV1" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows a pedestrian walking along the pathway near a cluster of small residential buildings. In UAV3, the same pedestrian is seen standing near the entrance of the nearby parking lot. Other UAV views show different areas, including a cyclist near an intersection and another pedestrian walking by the lake.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_OR_UAV3_26", "question_type": "2.1 Object Recognition (UAV3)", "question": "What type of prominent non-vehicle object is visible near the buildings in the top-right of the scene?", "options": { "A": "A pedestrian", "B": "A cyclist", "C": "A bench", "D": "A tree" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV image depicts a small town area with various buildings, parking lots, and trees scattered across the scene. The top-right corner is characterized by multiple residential buildings surrounded by dense trees. Roads and vehicles are also visible.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_OM_UAV3_26", "question_type": "2.4 Object Matching (UAV3)", "question": "Which object in another UAV's view corresponds to the cyclist seen near the parking lot entrance in UAV3?", "options": { "A": "The cyclist now approaching the residential area in UAV2", "B": "The cyclist now seen heading toward the main road in UAV4", "C": "The pedestrian waiting by the crosswalk near the parking lot in UAV5", "D": "The cyclist riding along the shoreline in UAV1" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 shows a cyclist near the parking lot entrance, heading toward the main road. UAV4 captures the same cyclist from a side perspective as they move toward the main road, while other UAV views show unrelated individuals or activities.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_OG_UAV4_24", "question_type": "2.3 Object Grounding (UAV4)", "question": "Where is the parking lot located relative to the small chapel visible in the scene?", "options": { "A": "The parking lot is directly to the east of the chapel", "B": "The parking lot is north of the chapel, separated by some trees", "C": "The parking lot is south of the chapel and across the main road", "D": "The parking lot is located west of the chapel, near the river" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a scene with a parking lot near a commercial area, a small chapel surrounded by trees, a winding main road, and a river to the left.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OR_UAV1_27", "question_type": "2.1 Object Recognition (UAV1)", "question": "What type of vehicle is most prominently visible near the large building in the bottom-left of the image?", "options": { "A": "A red car", "B": "A blue truck", "C": "A green SUV", "D": "A black motorcycle" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts a suburban environment captured from a UAV. Key objects include a winding road with vehicles near a large building in the bottom-left, green spaces with houses, and a rocky cliff surrounded by trees. Among the vehicles visible, a red car is the most prominent near the large building.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OR_UAV2_27", "question_type": "2.1 Object Recognition (UAV2)", "question": "What type of vehicle is most prominently visible on the road near the water in this scene?", "options": { "A": "A yellow truck", "B": "A white van", "C": "A red sports car", "D": "A black SUV" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image depicts a suburban area with curved rows of houses surrounded by trees. A road runs parallel to the water near the top of the scene, where vehicles including a yellow truck are visible. Residential streets connect the houses, and the entire area is bordered by greenery and a rocky cliff to the left.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OM_UAV2_27", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the bench near the cluster of houses on the curved street visible in UAV2?", "options": { "A": "The bench now visible on the lakeside path in UAV3", "B": "The bench slightly obscured by trees near the trail entrance in UAV4", "C": "The bench visible next to the building with the red roof in UAV3", "D": "The bench now visible near the rocky cliffside in UAV5" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows a bench near a cluster of houses arranged along a curved street. UAV4 shows the same bench slightly obscured by trees near a trail entrance.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OG_UAV3_26", "question_type": "2.3 Object Grounding (UAV3)", "question": "Where is the house with the red roof located relative to the highway in this scene?", "options": { "A": "The house is positioned to the left of the highway near a curve", "B": "The house is directly across the river from the highway", "C": "The house is positioned on the right side of the highway surrounded by trees", "D": "The house is located in the middle of the highway junction" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a curved highway running beside a river, surrounded by trees. A house with a red roof is located to the left of the highway, near the curve, within a residential area bordered by trees.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OM_UAV3_27", "question_type": "2.4 Object Matching (UAV3)", "question": "Which object in another UAV's view corresponds to the red car traveling in the leftmost lane of the highway in UAV3?", "options": { "A": "The red car now seen parked near the white building in UAV2", "B": "The red car now seen in the rightmost lane of the highway in UAV5", "C": "The red car now seen entering the residential road near the curve in UAV4", "D": "The red car now seen stopped at the intersection near houses in UAV2" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 shows the red car traveling in the leftmost lane of the highway. UAV5 shows the same red car now seen in the rightmost lane of the highway.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OC_UAV4_27", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "29", "B": "26", "C": "27", "D": "28" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OR_UAV4_27", "question_type": "2.1 Object Recognition (UAV4)", "question": "What type of vehicle is most prominently visible on the multi-lane road beside the river?", "options": { "A": "A red sports car", "B": "A white SUV", "C": "A black truck", "D": "A blue convertible" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV image captures a multi-lane road running adjacent to a river, surrounded by a forest and a residential area. Prominent vehicles, including a white SUV, are visible on the road. The scene also features houses, traffic, and a curved road layout.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OG_UAV5_26", "question_type": "2.3 Object Grounding (UAV5)", "question": "What is the position of the forested area relative to the body of water in this scene?", "options": { "A": "The forested area is directly adjacent to the water on the left", "B": "The forested area is separated from the water by the rocky terrain", "C": "The forested area is located above the body of water on the slope", "D": "The forested area is on the opposite side of the road, away from the water" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a road with cars on one side, a forested area in the middle, and a body of water separated by rocky terrain on the other side.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OM_UAV5_27", "question_type": "2.4 Object Matching (UAV5)", "question": "Which object in another UAV's view corresponds to the group of pine trees near the cliff edge in UAV5?", "options": { "A": "The group of pine trees near the fenced residential area in UAV3", "B": "The group of pine trees seen beyond the red-roofed house in UAV4", "C": "The group of pine trees beside the large roadway curve in UAV2", "D": "The group of pine trees directly overlooking the riverbank in UAV1" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV5 shows a group of pine trees near the cliff edge, overlooking the river. UAV1 shows the same group of trees directly overlooking the riverbank at a closer perspective. 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The scene is surrounded by numerous trees, while street light poles and other objects line the roads. Residential houses are adjacent to commercial blocks with parking lots nearby.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629210769328715776-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629210769328715776-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629210769328715776-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629210769328715776-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629210769328715776-UAV5.png" } }, { "sequence_frame": "4-40m-1629210769328715776.png", "question_id": "MDMT_OM_UAV3_29", "question_type": "2.4 Object Matching (UAV3)", "question": "Which object in another UAV's view corresponds to the white apartment building located near a curved road in UAV3's view?", "options": { "A": "The white apartment building seen from the rear, next to a cluster of pine trees in UAV2's view", "B": "The red-roofed house located on the hill near the highway in UAV4's view", "C": "The gray warehouse located behind the parking lot in UAV5's view", "D": "The white apartment building seen from the front, adjacent to the parking area in UAV1's view" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 shows a white apartment building located near a curved road; UAV1 captures the same building from the front, positioned next to a parking area.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629210769328715776-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629210769328715776-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629210769328715776-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629210769328715776-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629210769328715776-UAV5.png" } }, { "sequence_frame": "4-40m-1629210769328715776.png", "question_id": "MDMT_OC_UAV4_29", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "35", "B": "38", "C": "36", "D": "37" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629210769328715776-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629210769328715776-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629210769328715776-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629210769328715776-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629210769328715776-UAV5.png" } }, { "sequence_frame": "4-40m-1629210769328715776.png", "question_id": "MDMT_OM_UAV4_29", "question_type": "2.4 Object Matching (UAV4)", "question": "Which object in another UAV's view corresponds to the small tunnel visible on the curved road in UAV4?", "options": { "A": "The small tunnel visible along the straight road in UAV5", "B": "The small tunnel located near the red-roofed house in UAV2’s view", "C": "The small tunnel now partially obscured by trees in UAV3’s view", "D": "The small tunnel now seen beside a traffic light in UAV1’s view" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows a small tunnel located on the curved road near the forested area. UAV2 captures the same tunnel near the red-roofed house from a different angle. 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Near the bottom-left curve of the road, a beige truck is visible, while other cars are spread across the lanes.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629210769328715776-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629210769328715776-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629210769328715776-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629210769328715776-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629210769328715776-UAV5.png" } }, { "sequence_frame": "4-40m-1629210769328715776.png", "question_id": "MDMT_OG_UAV5_28", "question_type": "2.3 Object Grounding (UAV5)", "question": "Where is the gray car located relative to the blue car in this scene?", "options": { "A": "The gray car is ahead of the blue car in the same lane", "B": "The gray car is behind the blue car but in a different lane", "C": "The gray car is adjacent to the blue car in the neighboring lane", "D": "The gray car is directly in front of the blue car in a parallel lane" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image captures a highway scene from UAV5 showing several cars occupying multiple lanes. The gray car is positioned adjacent to the blue car in the neighboring lane. Surrounding the roadway are areas with forested terrain and open green spaces.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629210769328715776-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629210769328715776-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629210769328715776-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629210769328715776-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629210769328715776-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OG_UAV1_30", "question_type": "2.3 Object Grounding (UAV1)", "question": "What is the position of the cluster of large rocks in relation to the road intersection in the image?", "options": { "A": "The rocks are located directly south of the intersection, near the curved road.", "B": "The rocks are positioned directly north of the intersection, close to the cars parked along the roadside.", "C": "The rocks are situated to the east of the intersection on a flat grassy area.", "D": "The rocks are scattered west of the intersection along the hillside." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a road intersection surrounded by grassy areas, trees, and large rock clusters. To the south of the intersection, near the curved road, lies a notable cluster of large rocks. The northern area contains parked cars, and the green spaces extend to the east and west.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OR_UAV2_30", "question_type": "2.1 Object Recognition (UAV2)", "question": "What type of vehicle is most prominently visible near the bottom left corner of the scene?", "options": { "A": "A yellow truck", "B": "A white sedan", "C": "A red SUV", "D": "A black motorcycle" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image captures a highway intersection surrounded by greenery and rocky terrain. Multiple vehicles are visible, including cars, trucks, and smaller vehicles. A yellow truck is prominently located at the bottom left corner near the curved road of the intersection.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OG_UAV2_29", "question_type": "2.3 Object Grounding (UAV2)", "question": "What is the position of the large rock formations relative to the curved road in this scene?", "options": { "A": "The rock formations are directly on the right side of the curved road", "B": "The rock formations are away from the road, near the forest edge", "C": "The rock formations are located on the inner side of the curved road", "D": "The rock formations are positioned underneath the bridge" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a multi-lane curved road with large rock formations positioned on the inner side of the curve. A bridge extends outward, separating two patches of forested areas.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OM_UAV2_30", "question_type": "2.4 Object Matching (UAV2)", "question": "Which object in another UAV's view corresponds to the small tree located near the curved road in UAV2's view?", "options": { "A": "The same tree now seen closer to the rocky terrain in UAV3", "B": "The tree now seen in the center of the park beside the curved road in UAV4", "C": "The same tree now partially obscured by shadows near the crosswalk in UAV5", "D": "A different tree located on the opposite side of the curved road in UAV3" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV2 shows a distinct small tree positioned near the curved road at the edge of a forest area; UAV3 shows the same tree moved closer to the rocky terrain, highlighting its position change.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OC_UAV3_30", "question_type": "2.2 Object Counting (UAV3)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV3's perspective?", "options": { "A": "35", "B": "36", "C": "33", "D": "38" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OR_UAV3_30", "question_type": "2.1 Object Recognition (UAV3)", "question": "What type of prominent non-vehicle object is visible in the image from UAV3?", "options": { "A": "Cyclist", "B": "Tree", "C": "Pedestrian", "D": "Lamp post" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts a multi-lane road surrounded by forested hills with numerous trees, rocks, and a nearby water body. 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In the lower part of the image, vehicles are visible on a multi-lane road, with a black truck standing out among other cars.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OG_UAV4_28", "question_type": "2.3 Object Grounding (UAV4)", "question": "What is the relative position of the smaller rocky terrain with grass compared to the densely wooded area in this scene?", "options": { "A": "The rocky terrain is located south of the wooded area near the highway", "B": "The rocky terrain is east of the wooded area beside the lake", "C": "The rocky terrain is northwest of the wooded area next to the mountain", "D": "The rocky terrain is directly above the wooded area toward the horizon" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "This aerial view shows a densely wooded area surrounded by grass. A smaller rocky terrain with visible grass lies to its east, closer to the lake. Highways border the wooded area, and vehicles are seen along the roads.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OM_UAV4_30", "question_type": "2.4 Object Matching (UAV4)", "question": "Which object in another UAV's view corresponds to the yellow construction barrier visible near the curve in UAV4?", "options": { "A": "The yellow construction barrier now seen to the right side of the highway in UAV5", "B": "The orange traffic cone placed at the entrance of the curve in UAV3", "C": "The yellow construction barrier visible along the left side of the highway in UAV2", "D": "The white guardrail seen along the edge of the hill in UAV1" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows a yellow construction barrier positioned near the curve on the right side of the divided highway; UAV5 shows the same yellow construction barrier relocated slightly further down the highway near another curve.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OR_UAV5_30", "question_type": "2.1 Object Recognition (UAV5)", "question": "Which type of vehicle can be identified in the left lane of the main road?", "options": { "A": "A yellow truck", "B": "A black SUV", "C": "A red sports car", "D": "A silver sedan" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a multi-lane road surrounded by greenery, where various vehicles such as cars, trucks, and SUVs are traveling. The left lane of the main road prominently features a black SUV along with other vehicles in nearby lanes.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629218507914019328.png", "question_id": "MDMT_OC_UAV1_31", "question_type": "2.2 Object Counting (UAV1)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV1's perspective?", "options": { "A": "57", "B": "56", "C": "58", "D": "54" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629218507914019328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629218507914019328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629218507914019328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629218507914019328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629218507914019328-UAV5.png" } }, { "sequence_frame": "4-40m-1629218507914019328.png", "question_id": "MDMT_OR_UAV1_31", "question_type": "2.1 Object Recognition (UAV1)", "question": "Which type of vehicle is primarily visible near the apartment complex in the scene?", "options": { "A": "A red car", "B": "A blue van", "C": "A white truck", "D": "A black sedan" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene features a mixed urban environment with a central apartment complex surrounded by roads, trees, and buildings. 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A river flows in the upper part of the image, with a road winding alongside it. 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Trees are scattered across the area, and one large tree is located close to the curve within the boundary wall.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628483886999027712-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628483886999027712-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628483886999027712-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628483886999027712-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628483886999027712-UAV5.png" } }, { "sequence_frame": "6-40m-1628483886999027712.png", "question_id": "MDMT_OC_UAV4_42", "question_type": "2.2 Object Counting (UAV4)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV4's perspective?", "options": { "A": "33", "B": "29", "C": "31", "D": "32" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628483886999027712-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628483886999027712-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628483886999027712-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628483886999027712-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628483886999027712-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_OR_UAV1_43", "question_type": "2.1 Object Recognition (UAV1)", "question": "What type of non-vehicle object is prominently located near the center of the park?", "options": { "A": "A monument-like rock formation", "B": "A cycling path symbol", "C": "A fountain surrounded by trees", "D": "A small pavilion" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a large urban area captured from a UAV view, featuring roads, buildings, and a central park area. 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The park is flanked by multiple structures, including high-rise buildings and the arch-like monument on the left side.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_OG_UAV1_42", "question_type": "2.3 Object Grounding (UAV1)", "question": "What is the position of the large rock relative to the arch monument in this scene?", "options": { "A": "The large rock is directly in front of the arch monument", "B": "The large rock is further along the curved road, behind the arch monument", "C": "The large rock is to the right of the arch monument, separated by a grass lawn", "D": "The large rock is to the left of the arch monument, closer to the curved road" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows an urban scene with various structures. The arch monument is positioned on the left side of the scene, surrounded by grass and some trees. A curved road leads to a large rock further along the path and behind the monument.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_OG_UAV2_38", "question_type": "2.3 Object Grounding (UAV2)", "question": "What is the spatial position of the circular building relative to the trees and parking lot?", "options": { "A": "The circular building is surrounded by trees and is to the left of the parking lot", "B": "The circular building is next to the parking lot and surrounded by residential buildings", "C": "The circular building is located further down the road and surrounded by cars", "D": "The circular building is adjacent to the parking lot and behind the trees" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV2 scene includes a circular building surrounded by a cluster of trees. To the building's right is a parking lot, and residential buildings are located further behind the trees.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_OG_UAV3_41", "question_type": "2.3 Object Grounding (UAV3)", "question": "What is the spatial position of the large rock relative to the nearby house and road in the upper-left section of the image?", "options": { "A": "The large rock is directly beside the house and away from the road", "B": "The large rock is positioned between the house and the road", "C": "The large rock is behind the house, located further up the hill", "D": "The large rock is above the road on the hill and near the house" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a hillside in the upper-left section with a large rock positioned above the road and near a small house. Roads, buildings, and trees populate the rest of the scene.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_OM_UAV3_43", "question_type": "2.4 Object Matching (UAV3)", "question": "Which object in another UAV's view corresponds to the green car traveling on the center lane near the row of trees in UAV3?", "options": { "A": "The green car seen turning right into a side street near the tall glass building in UAV2", "B": "The green car now stationary behind a red sedan at the intersection in UAV1", "C": "The green car seen traveling on the farthest left lane next to the parked vehicles in UAV4", "D": "The blue car traveling on the center lane next to the row of trees in UAV5" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV3 shows a green car traveling on the center lane near a row of evenly spaced trees. UAV2 shows the same green car turning right into a side street near a tall, circular glass building visible within a park.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_OR_UAV4_43", "question_type": "2.1 Object Recognition (UAV4)", "question": "What type of structure is most prominently visible in the top-right corner of the image?", "options": { "A": "Apartment buildings", "B": "Retail stores", "C": "Single-family houses", "D": "Government office buildings" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV image captures an urban area with multiple objects, including apartment buildings in the top-right corner, a parking lot with trees in the left-center area, and a main road intersecting through the middle. There are also single-family homes visible in the distance and some commercial buildings prominently shown in the bottom-left.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_OG_UAV5_39", "question_type": "2.3 Object Grounding (UAV5)", "question": "What is the spatial relationship between the rectangular building with an inner courtyard and the two adjacent multi-story buildings?", "options": { "A": "The rectangular building is positioned behind the multi-story buildings", "B": "The rectangular building is located directly between the multi-story buildings", "C": "The rectangular building is positioned in front of the multi-story buildings, closer to the road", "D": "The rectangular building is to the left side of the multi-story buildings" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene shows a rectangular building with an inner courtyard positioned closer to the main road. Two multi-story buildings are adjacent to the rectangular building, located further back on the scene.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OC_UAV2_44", "question_type": "2.2 Object Counting (UAV2)", "question": "Based on the image analysis, how many targets (vehicles, pedestrians, bicycles) can be observed in UAV2's perspective?", "options": { "A": "34", "B": "35", "C": "33", "D": "38" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Rule-Based from all_samples.json", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OR_UAV2_44", "question_type": "2.1 Object Recognition (UAV2)", "question": "What type of prominent non-vehicle object is visible near the center of the image?", "options": { "A": "A church", "B": "A small set of residential houses", "C": "A cluster of trees", "D": "A solar panel installation" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a road intersection with nearby buildings. Near the center, there is a landscaped area featuring a cluster of trees, surrounded by scattered houses.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OG_UAV2_39", "question_type": "2.3 Object Grounding (UAV2)", "question": "Where is the church located relative to the orange-roofed house in this scene?", "options": { "A": "The church is directly behind the orange-roofed house across a row of trees", "B": "The church is to the left of the orange-roofed house across the main road", "C": "The church is diagonally ahead of the orange-roofed house separated by traffic lanes", "D": "The church is to the right of the orange-roofed house next to a cluster of buildings" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "This image from UAV2 shows a busy road scene with several vehicles, trees, houses with different roof colors, and a church positioned along a secondary road behind the main road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OR_UAV3_44", "question_type": "2.1 Object Recognition (UAV3)", "question": "Which type of non-vehicle object is most prominently visible in the image?", "options": { "A": "Trees", "B": "Cyclists", "C": "Pedestrians", "D": "Streetlights" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a large urban scene captured from a UAV, with tall buildings, parked cars, streets, and a curved green area containing several trees. Other structures like houses are visible, but vegetation dominates the area.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OG_UAV3_42", "question_type": "2.3 Object Grounding (UAV3)", "question": "What is the spatial position of the cluster of trees relative to the intersection in the scene?", "options": { "A": "The cluster of trees is directly south of the intersection", "B": "The cluster of trees is north and slightly to the east of the intersection", "C": "The cluster of trees is to the west of the intersection, near the road curve", "D": "The cluster of trees is southeast of the intersection, behind the apartment buildings" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The scene depicts an intersection surrounded by roads, with a cluster of trees located north and slightly to the east. Apartment buildings are seen to the southwest, and a curved road runs alongside the trees to the north and northwest.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OG_UAV4_41", "question_type": "2.3 Object Grounding (UAV4)", "question": "Which structure is located diagonally across from the line of high-rise buildings as viewed from this angle?", "options": { "A": "The smaller residential houses with red roofs", "B": "The wide low-rise buildings on the left", "C": "The apartment complexes with flat white roofs", "D": "The parking lot filled with vehicles" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows a residential area with several high-rise apartment buildings in the center. To the left are wide low-rise buildings with flat white roofs, and smaller residential houses with red roofs are visible further in the background. A parking lot with vehicles can be seen next to the high-rise structures.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OR_UAV5_44", "question_type": "2.1 Object Recognition (UAV5)", "question": "What type of building is most prominently located near the curved road in the scene?", "options": { "A": "Apartment buildings", "B": "Shopping malls", "C": "Individual houses", "D": "Factories" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image depicts an urban environment as seen from an aerial view, with a curved road lined by trees dividing two distinct areas: a cluster of multi-story apartment buildings on one side and several individual houses with red roofs on the other side.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OM_UAV5_44", "question_type": "2.4 Object Matching (UAV5)", "question": "Which object in another UAV's view corresponds to the red-brick building located near a curve on the road in UAV5?", "options": { "A": "The red-brick building now seen next to two identical residential buildings in UAV2", "B": "The yellow building located directly beside a small park in UAV3", "C": "The red-brick building now seen surrounded by trees at a road intersection in UAV3", "D": "The white building adjacent to two large cylindrical silos in UAV4" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV5 shows a red-brick building near a curve on the road surrounded by several larger buildings and some trees. 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Next to the church are silos and other residential buildings in a row along the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628497853920271360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628497853920271360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628497853920271360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628497853920271360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628497853920271360-UAV5.png" } }, { "sequence_frame": "6-40m-1628497853920271360.png", "question_id": "MDMT_OM_UAV4_45", "question_type": "2.4 Object Matching (UAV4)", "question": "Which object in another UAV's view corresponds to the red car visible near the church and silos in UAV4's perspective?", "options": { "A": "The red car now seen from the rear, parked near the circular building in UAV2", "B": "The red car now seen from the side, traveling on the larger road near the arch monument in UAV3", "C": "The red car now seen from an aerial perspective, parked next to the silos in UAV5", "D": "The blue car now seen from the side, moving along the same road in UAV1" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_OU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "UAV4 shows a red car near the church and silos on a small road. 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"VQA_AeroCollab_PA.json", "uav_id": "UAV3", "source": "Rule-Based from JSON", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502416425925888-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502416425925888-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502416425925888-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502416425925888-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502416425925888-UAV5.png" } }, { "sequence_frame": "6-40m-1628502416425925888.png", "question_id": "MDMT_QA_UAV4_46", "question_type": "3.1 Quality Assessment (UAV4)", "question": "What is the perception quality assessment score (1-5) for the image captured by UAV4?", "options": { "A": "2", "B": "5", "C": "1", "D": "3" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_PA.json", "uav_id": "UAV4", "source": "Rule-Based from JSON", "annotation_info": "", "image_description": "", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502416425925888-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502416425925888-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502416425925888-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502416425925888-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502416425925888-UAV5.png" } }, { "sequence_frame": "6-40m-1628502416425925888.png", "question_id": "MDMT_CA_UAV4_46", "question_type": "3.3 Causal Assessment (UAV4)", "question": "What is the primary cause of reduced detection accuracy in this UAV4 image?", "options": { "A": "Motion blur from fast UAV movement", "B": "Shadow occlusion affecting visibility", "C": "Sensor noise degrading image quality", "D": "Overexposure due to direct sunlight" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_PA.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image from UAV4 shows clear shadows cast by buildings and trees onto roads and nearby areas. These shadows partially obscure objects and details, potentially affecting detection accuracy.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502416425925888-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502416425925888-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502416425925888-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502416425925888-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502416425925888-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "MDMT_CA_UAV1_47", "question_type": "3.3 Causal Assessment (UAV1)", "question": "What is the primary cause of reduced perception quality in this image?", "options": { "A": "Overexposure due to intense sunlight", "B": "Occlusion by tall trees in the foreground", "C": "Low contrast caused by uniform lighting", "D": "Motion blur due to rapid UAV movement" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_PA.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows high exposure levels with bright sunlight reflecting off buildings and roads, causing overexposure and reduced visibility of details.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502471882108928-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "MDMT_CA_UAV2_47", "question_type": "3.3 Causal Assessment (UAV2)", "question": "What is the primary factor affecting the visibility of the details in this UAV2 image?", "options": { "A": "Blur caused by camera motion during flight", "B": "Overexposure due to intense sunlight reflections", "C": "Occlusion from surrounding buildings and trees", "D": "Low resolution due to insufficient sensor quality" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_PA.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV2 image shows areas with strong sunlight reflections on building roofs and roads, leading to overexposure and reduced detail visibility.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502471882108928-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "MDMT_CA_UAV3_47", "question_type": "3.3 Causal Assessment (UAV3)", "question": "What is the primary cause of perception quality issues in the UAV3 image?", "options": { "A": "Shadow occlusion from tall structures", "B": "Low contrast due to uneven lighting conditions", "C": "Incomplete coverage of the scene due to framing", "D": "Sensor noise caused by hardware malfunction" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_PA.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The UAV3 image shows a portion of grassland and urban structures. Tall buildings on the right cast long, dark shadows, which occlude visibility of details in the scene and affect perception quality. The shadow area significantly reduces clarity in the affected regions.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502471882108928-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "MDMT_CA_UAV5_47", "question_type": "3.3 Causal Assessment (UAV5)", "question": "What is the primary factor affecting object detection quality in this image?", "options": { "A": "Motion blur caused by UAV movement", "B": "Strong shadows creating regions of low visibility", "C": "Sensor failure causing poor image resolution", "D": "Compression artifacts from image processing" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_PA.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "", "image_description": "The image shows several buildings, roads, and vehicles, with significant shadows cast by tall structures. These shadows obscure portions of the scene, creating regions of low visibility that may affect object detection quality.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502471882108928-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "3-40m-1623936157944367872.png", "question_id": "MDMT_SC_1", "question_type": "1.2 Scene Comparison", "question": "How do the number of parked vehicles visible near residential areas differ across the UAV perspectives?", "options": { "A": "UAV1 shows more parked vehicles near residential areas than UAV2 and UAV4", "B": "UAV2 shows fewer parked vehicles near residential areas compared to UAV3", "C": "UAV4 shows no parked vehicles near residential areas, while UAV1 and UAV2 show several", "D": "UAV3 shows more parked vehicles near residential areas than all other perspectives" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 24.072612470402525, 'y': 0.5612558098745943, 'width': 2.131018153117598, 'height': 2.2450232394983773, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 23.83583267561168, 'y': 0.701569762343243, 'width': 2.367797947908443, 'height': 1.9643953345610807, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 provides an overview of architecture and roads but shows limited parked vehicles near residential areas. UAV2 offers a closer perspective, highlighting fewer parked vehicles. UAV3 shows multiple parked vehicles near residential housing. UAV4 focuses on roads with no visible parked vehicles near residences.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936157944367872-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936157944367872-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936157944367872-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936157944367872-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936157944367872-UAV5.png" } }, { "sequence_frame": "3-40m-1623936157944367872.png", "question_id": "MDMT_OP_1", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective best highlights the orientation of the statue in the roundabout relative to the nearby buildings?", "options": { "A": "UAV1 provides the clearest view due to its higher altitude and direct focus on the roundabout", "B": "UAV2 highlights the statue's orientation by showing the nearby residential area more prominently", "C": "UAV3 emphasizes the statue's alignment with the main road and residential houses", "D": "UAV4 offers no distinct advantage in interpreting the statue's orientation" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 24.072612470402525, 'y': 0.5612558098745943, 'width': 2.131018153117598, 'height': 2.2450232394983773, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 23.83583267561168, 'y': 0.701569762343243, 'width': 2.367797947908443, 'height': 1.9643953345610807, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 shows an elevated view focusing directly on the statue in the roundabout and its relationship with surrounding buildings. UAV2 represents a broader view of residential areas leading into the roundabout, while UAV3 provides a mix of road alignment and nearby houses. UAV4 introduces less clarity regarding the statue's orientation relative to the environment.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936157944367872-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936157944367872-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936157944367872-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936157944367872-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936157944367872-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "MDMT_SD_UAV1_2", "question_type": "1.1 Scene Description (UAV1)", "question": "What type of environment is depicted in the scene taken from UAV1?", "options": { "A": "A suburban area with medium-density housing and commercial buildings", "B": "A dense urban area characterized by skyscrapers and heavy traffic", "C": "A rural area with scattered houses and large open green spaces", "D": "An industrial district with warehouses and manufacturing facilities" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 89.11516853932584, 'y': 19.803370786516854, 'width': 1.8170646067415674, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.40625, 'y': 23.314606741573034, 'width': 1.6590589887640448, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.09234550561797, 'y': 28.08988764044944, 'width': 1.4220505617977608, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.35849719101122, 'y': 13.48314606741573, 'width': 1.5800561797752835, 'height': 1.6853932584269682, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The image captures a suburban environment featuring medium-density housing, a central courtyard area with a fountain surrounded by trees, and multi-level buildings along a road network with vehicles parked and moving.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "MDMT_SD_UAV3_2", "question_type": "1.1 Scene Description (UAV3)", "question": "What environmental setting is most accurately represented in this scene?", "options": { "A": "An urban area with multi-lane roads and high-rise buildings", "B": "A suburban area with houses, small roads, and green spaces", "C": "A rural area with scattered farms and vast open fields", "D": "A recreational area with dense forests and hiking trails" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 89.11516853932584, 'y': 19.803370786516854, 'width': 1.8170646067415674, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.40625, 'y': 23.314606741573034, 'width': 1.6590589887640448, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.09234550561797, 'y': 28.08988764044944, 'width': 1.4220505617977608, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.35849719101122, 'y': 13.48314606741573, 'width': 1.5800561797752835, 'height': 1.6853932584269682, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a suburban area featuring houses surrounded by small fenced yards, green spaces, and local roads. A multi-lane road is visible on the left, flanked by trees, while a circular road configuration appears near the center.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "MDMT_SD_UAV5_2", "question_type": "1.1 Scene Description (UAV5)", "question": "What is the dominant environmental feature observed in this scene?", "options": { "A": "A small residential block surrounded by open fields", "B": "An urban environment with organized buildings and paved roads", "C": "A countryside village with scattered houses and natural terrain", "D": "An industrial zone with warehouses and large factory buildings" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 89.11516853932584, 'y': 19.803370786516854, 'width': 1.8170646067415674, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.40625, 'y': 23.314606741573034, 'width': 1.6590589887640448, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.09234550561797, 'y': 28.08988764044944, 'width': 1.4220505617977608, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.35849719101122, 'y': 13.48314606741573, 'width': 1.5800561797752835, 'height': 1.6853932584269682, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a structured urban environment with multiple buildings organized within blocks, a large paved area featuring a tree in the center, and adjacent roads with moving vehicles. The layout appears planned and orderly, emphasizing an urban context.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "MDMT_SC_2", "question_type": "1.2 Scene Comparison", "question": "How does the visibility of the circular fountain differ between UAV1 and UAV2 perspectives?", "options": { "A": "The fountain is fully visible in UAV1 but partially occluded in UAV2", "B": "The fountain is partially visible in both UAV1 and UAV2", "C": "The fountain is fully visible in UAV1 and UAV2 with identical clarity", "D": "UAV1 shows the fountain with more surrounding trees visible than UAV2" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 89.11516853932584, 'y': 19.803370786516854, 'width': 1.8170646067415674, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.40625, 'y': 23.314606741573034, 'width': 1.6590589887640448, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.09234550561797, 'y': 28.08988764044944, 'width': 1.4220505617977608, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.35849719101122, 'y': 13.48314606741573, 'width': 1.5800561797752835, 'height': 1.6853932584269682, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 provides a top-down view of a square-shaped courtyard with a centrally placed circular fountain surrounded by trees, while UAV2 shows the same courtyard at an angle where fewer trees are visible around the fountain.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936183309908992.png", "question_id": "MDMT_OP_2", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer observation of the green courtyard area containing the fountain within the central building complex?", "options": { "A": "UAV1 provides a clearer view due to its overhead perspective directly showing the courtyard", "B": "UAV2 provides a clearer view due to its angled perspective showing the courtyard within its building structure", "C": "Both UAVs provide equally clear views of the courtyard area", "D": "Neither UAV provides a sufficiently clear view of the courtyard area" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 89.11516853932584, 'y': 19.803370786516854, 'width': 1.8170646067415674, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.40625, 'y': 23.314606741573034, 'width': 1.6590589887640448, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.09234550561797, 'y': 28.08988764044944, 'width': 1.4220505617977608, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.35849719101122, 'y': 13.48314606741573, 'width': 1.5800561797752835, 'height': 1.6853932584269682, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures a top-down view of the central building complex with an unobstructed view of the green courtyard and fountain. UAV2 provides an angle focusing on the buildings themselves, partially obstructing the courtyard view.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936183309908992-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936183309908992-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936183309908992-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936183309908992-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936183309908992-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_SD_UAV3_3", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the primary movement pattern of vehicles observed in this image?", "options": { "A": "Vehicles are stationary along the roadside", "B": "Vehicles are moving in opposite directions on either side of the road", "C": "Vehicles are moving in one direction only along the main road", "D": "Vehicles are crossing at intersections in random directions" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 45.450316011235955, 'y': 7.879213483146068, 'width': 1.21664325842697, 'height': 2.6264044943820233, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.1738061797752809, 'y': 50.98314606741573, 'width': 3.82373595505618, 'height': 7.106741573033716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.60077247191012, 'y': 20.393258426966295, 'width': 1.3035463483145975, 'height': 2.935393258426963, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 31.3720154494382, 'y': 41.25, 'width': 5.301088483146067, 'height': 4.325842696629216, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The image shows a suburban area with a multi-lane road bordered by trees and residential buildings. Some vehicles are visible driving in opposite directions on each side of the road, while others appear stationary or parked near intersections.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_SD_UAV4_3", "question_type": "1.1 Scene Description (UAV4)", "question": "What is the observed movement pattern or activity of vehicles in the scene?", "options": { "A": "Vehicles are stationary, forming a line along the road", "B": "Vehicles are driving at high speeds on multiple lanes", "C": "Vehicles are parked randomly on the grass near the house", "D": "Vehicles are actively turning at the intersection without stopping" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 45.450316011235955, 'y': 7.879213483146068, 'width': 1.21664325842697, 'height': 2.6264044943820233, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.1738061797752809, 'y': 50.98314606741573, 'width': 3.82373595505618, 'height': 7.106741573033716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.60077247191012, 'y': 20.393258426966295, 'width': 1.3035463483145975, 'height': 2.935393258426963, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 31.3720154494382, 'y': 41.25, 'width': 5.301088483146067, 'height': 4.325842696629216, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a multi-lane road bordered by a large building on the left and a fenced house on the right. Vehicles are stationary, forming a line along the road near the house. There is a visible intersection at the end of the road, and no pedestrians or active movement of vehicles is observed.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_SC_3", "question_type": "1.2 Scene Comparison", "question": "How does the distribution of vehicles on the main road differ between the UAV1 and UAV4 perspectives?", "options": { "A": "UAV1 shows evenly distributed vehicles across the road, while UAV4 shows vehicles concentrated near the intersection.", "B": "UAV1 shows no vehicles on the main road, while UAV4 shows several vehicles moving near the intersection.", "C": "Both UAV1 and UAV4 show an evenly distributed flow of vehicles across the entire road.", "D": "UAV4 shows more static vehicles near a traffic stop, while UAV1 shows only moving vehicles." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 45.450316011235955, 'y': 7.879213483146068, 'width': 1.21664325842697, 'height': 2.6264044943820233, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.1738061797752809, 'y': 50.98314606741573, 'width': 3.82373595505618, 'height': 7.106741573033716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.60077247191012, 'y': 20.393258426966295, 'width': 1.3035463483145975, 'height': 2.935393258426963, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 31.3720154494382, 'y': 41.25, 'width': 5.301088483146067, 'height': 4.325842696629216, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 provides a perspective showing vehicles distributed along the road, including near residential areas. UAV4 focuses on the intersection with vehicles clustering near a junction, potentially due to traffic lights or congestion.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623936250982352640.png", "question_id": "MDMT_OP_3", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides the clearest view of the alignment between the residential area and adjacent roads?", "options": { "A": "UAV1 provides a better view due to its diagonal perspective emphasizing transitions", "B": "UAV2 provides a better view due to its perpendicular angle to the residential area", "C": "Both perspectives equally highlight the alignment between the residential area and roads", "D": "Neither perspective provides a clear alignment view due to obstructions" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 45.450316011235955, 'y': 7.879213483146068, 'width': 1.21664325842697, 'height': 2.6264044943820233, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.1738061797752809, 'y': 50.98314606741573, 'width': 3.82373595505618, 'height': 7.106741573033716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.60077247191012, 'y': 20.393258426966295, 'width': 1.3035463483145975, 'height': 2.935393258426963, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 31.3720154494382, 'y': 41.25, 'width': 5.301088483146067, 'height': 4.325842696629216, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures a diagonal perspective showcasing both residential and urban roads, while UAV2 shows a perpendicular perspective focusing on a section of the roads and the residential area.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623936250982352640-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623936250982352640-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623936250982352640-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623936250982352640-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623936250982352640-UAV5.png" } }, { "sequence_frame": "3-40m-1623937902840830464.png", "question_id": "MDMT_SD_UAV5_4", "question_type": "1.1 Scene Description (UAV5)", "question": "What best describes the environmental setting in this UAV5 view?", "options": { "A": "A suburban area with detached houses and open spaces", "B": "An urban area with a mix of residential buildings and streets", "C": "A parkland surrounded by greenery and no urban structures", "D": "A rural area dominated by fields and farmlands" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV; Perception degradation: Object occlusion, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 9.243328651685392, 'y': 43.11797752808989, 'width': 1.3430477528089888, 'height': 3.6516853932584254, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 5.451193820224718, 'y': 48.59550561797753, 'width': 3.0811095505617985, 'height': 5.196629213483142, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The image shows an urban setting with a mix of residential buildings, including small houses and a tall apartment building. Streets are present with vehicles moving along them, and a park with greenery is visible in the upper right corner, creating a diverse urban-scape.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623937902840830464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623937902840830464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623937902840830464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623937902840830464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623937902840830464-UAV5.png" } }, { "sequence_frame": "3-40m-1623937902840830464.png", "question_id": "MDMT_SC_4", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective includes a parking lot with different colored cars visible?", "options": { "A": "UAV1", "B": "UAV3", "C": "UAV4", "D": "UAV5" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV; Perception degradation: Object occlusion, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 9.243328651685392, 'y': 43.11797752808989, 'width': 1.3430477528089888, 'height': 3.6516853932584254, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 5.451193820224718, 'y': 48.59550561797753, 'width': 3.0811095505617985, 'height': 5.196629213483142, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 shows a side view of residential buildings and roads with parked cars along the roadside. UAV2 focuses on intersections with surrounding houses and greenery, while UAV3 captures additional residential areas but without parking lots. UAV4 provides a detailed view of a parking lot with multiple cars of various colors visible. UAV5 shows residential buildings near the railway tracks but no parking lot is present.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623937902840830464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623937902840830464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623937902840830464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623937902840830464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623937902840830464-UAV5.png" } }, { "sequence_frame": "3-40m-1623937902840830464.png", "question_id": "MDMT_OP_4", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer understanding of the separation between the residential area and the main road?", "options": { "A": "UAV1 provides the clearest separation view due to its straight-on angle towards the buildings and road", "B": "UAV3 provides the clearest separation view due to its oblique angle capturing both sides of the road", "C": "UAV4 provides the clearest separation view as it highlights the open parking space adjacent to the road", "D": "UAV5 provides the clearest separation view due to the positioning of tall buildings near the main road" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV; Perception degradation: Object occlusion, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 9.243328651685392, 'y': 43.11797752808989, 'width': 1.3430477528089888, 'height': 3.6516853932584254, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 5.451193820224718, 'y': 48.59550561797753, 'width': 3.0811095505617985, 'height': 5.196629213483142, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 offers a straight-ahead view that shows the residential area encased by retaining walls, separating it from the main road with vehicles. Subsequent images from UAV3, UAV4, and UAV5 show oblique perspectives, covering additional areas and focusing on adjacent features like parking spaces and tall buildings.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1623937902840830464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1623937902840830464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1623937902840830464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1623937902840830464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1623937902840830464-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_SD_UAV1_5", "question_type": "1.1 Scene Description (UAV1)", "question": "What type of environment is primarily depicted in this scene?", "options": { "A": "A quiet residential area with sparse traffic", "B": "An industrial zone surrounded by warehouses and factories", "C": "An urban setting with multi-lane roads and dense buildings", "D": "A rural area characterized by open fields and scattered houses" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.15800561797752807, 'y': 50.28089887640449, 'width': 2.291081460674157, 'height': 5.337078651685395, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows an urban intersection with multi-lane roads, several vehicles, and densely arranged buildings. Residential and commercial structures dominate the layout, with clear roads and organized traffic patterns.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_SD_UAV3_5", "question_type": "1.1 Scene Description (UAV3)", "question": "What type of environment is depicted in this scene?", "options": { "A": "An urban area with multi-lane roads and adjacent residential buildings", "B": "A suburban area with open roads and scattered vegetation", "C": "A rural landscape with vast open fields and farmhouses", "D": "A mountainous region with winding roads and steep cliffs" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.15800561797752807, 'y': 50.28089887640449, 'width': 2.291081460674157, 'height': 5.337078651685395, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a wide multi-lane road with sparse traffic, surrounded by trees, fenced areas, and small structures. Adjacent to the road is a railway track. The environment appears suburban with elements like scattered greenery and light development.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_SD_UAV4_5", "question_type": "1.1 Scene Description (UAV4)", "question": "What best describes the overall environmental setting shown in this scene?", "options": { "A": "An industrial area with sprawling factories", "B": "A dense urban area with mixed residential and transportation features", "C": "A suburban area with wide spaces and sparse structures", "D": "A rural region with open fields and few roads" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.15800561797752807, 'y': 50.28089887640449, 'width': 2.291081460674157, 'height': 5.337078651685395, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a dense urban setting with multi-lane roads, several apartment-style buildings, an elevated railway, and active vehicle traffic. Residential structures are closely packed, and transportation infrastructure is prominent.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_SD_UAV5_5", "question_type": "1.1 Scene Description (UAV5)", "question": "How would you describe the dominant environmental setting of this scene?", "options": { "A": "A rural area with sparse houses and open fields", "B": "A suburban area with houses and small urban features", "C": "A dense urban area with tall high-rise buildings", "D": "An industrial zone with factories and warehouses" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.15800561797752807, 'y': 50.28089887640449, 'width': 2.291081460674157, 'height': 5.337078651685395, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a mix of small houses, mid-sized buildings, fenced yards, and an organized road network with vehicles, indicating a suburban environment.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_SC_5", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective offers a clearer view of the elevated railway structure's surroundings?", "options": { "A": "UAV1 shows the elevated railway with adjacent buildings and vehicles", "B": "UAV3 provides the clearest view of the elevated railway and its adjacent greenery", "C": "UAV4 provides the clearest view of the elevated railway and traffic concentration nearby", "D": "UAV5 does not show the elevated railway at all" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.15800561797752807, 'y': 50.28089887640449, 'width': 2.291081460674157, 'height': 5.337078651685395, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures the elevated railway structure in an urban area with buildings and vehicles nearby. UAV3 shifts focus to a road adjacent to greenery, but the elevated railway is visible further away. UAV4 provides a detailed view of the railway surrounded by dense traffic and urban infrastructure. UAV5 focuses on rural-like areas without showing the railway.", "missing_models": -9, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105298882875904.png", "question_id": "MDMT_OP_5", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides the clearest contextual relationship between the road structure and surrounding buildings?", "options": { "A": "UAV1 captures the surrounding buildings and road intersections from a wide overhead view", "B": "UAV3 provides a view focused primarily on road curves and greenery, excluding surrounding buildings", "C": "UAV4 provides a view that includes the elevated railway structure but omits nearby buildings", "D": "UAV5 focuses primarily on houses and smaller roads, offering less clarity on the broader road network" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.15800561797752807, 'y': 50.28089887640449, 'width': 2.291081460674157, 'height': 5.337078651685395, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 shows a highly detailed overhead view of multiple road intersections surrounded by urban infrastructure; UAV2 focuses on a handful of buildings; UAV3 highlights road curvature near greenery; UAV4 emphasizes the proximity of roads to railway tracks; UAV5 captures smaller residential roads and buildings.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105298882875904-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105298882875904-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105298882875904-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105298882875904-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105298882875904-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "MDMT_SD_UAV4_6", "question_type": "1.1 Scene Description (UAV4)", "question": "What is the relationship between the vehicles and the road layout seen in this scene?", "options": { "A": "Vehicles are positioned on multiple lanes, moving in opposite directions", "B": "Vehicles are parked on the side of the road without movement", "C": "Vehicles are positioned on one side of the elevated railway track with light traffic flow", "D": "Vehicles are crossing a pedestrian intersection into a residential area" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance, Others（Please fill in below）; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 55.45997191011236, 'y': 0, 'width': 0.9480337078651715, 'height': 1.6853932584269662, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.43293539325843, 'y': 2.8089887640449436, 'width': 0.9480337078651573, 'height': 2.528089887640449, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.88202247191011, 'y': 11.376404494382022, 'width': 1.2640449438202168, 'height': 2.6685393258426977, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; 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 multi-lane road adjacent to residential buildings and an elevated railway track, with vehicles positioned mostly on one side of the road and showing light traffic flow, while the road itself is marked with lane divisions.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "MDMT_SC_6", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective includes more green spaces near the road?", "options": { "A": "UAV1 shows no visible green spaces compared to other perspectives", "B": "UAV3 and UAV5 show significantly more green spaces than UAV1", "C": "UAV2 and UAV4 show an equivalent number of green spaces as UAV1", "D": "UAV4 contains no green spaces, unlike UAV1" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance, Others（Please fill in below）; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 55.45997191011236, 'y': 0, 'width': 0.9480337078651715, 'height': 1.6853932584269662, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.43293539325843, 'y': 2.8089887640449436, 'width': 0.9480337078651573, 'height': 2.528089887640449, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.88202247191011, 'y': 11.376404494382022, 'width': 1.2640449438202168, 'height': 2.6685393258426977, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; 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": "UAV1 captures an urban setting with little greenery and prominent red buildings, while UAV3 and UAV5 display roads bordered by abundant green spaces, trees, and individual housing structures.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624105318731299328.png", "question_id": "MDMT_OP_6", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer understanding of the layout of the buildings relative to the main road?", "options": { "A": "UAV1 provides the clearest understanding due to its overhead angle capturing both sides of the road", "B": "UAV2 provides the clearest understanding due to its position showing building details on the west side", "C": "UAV3 provides the clearest understanding as it focuses on the road's alignment and adjacent greenery", "D": "UAV4 provides the clearest understanding as it shows a diverse arrangement of buildings alongside the elevated track" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance, Others（Please fill in below）; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 55.45997191011236, 'y': 0, 'width': 0.9480337078651715, 'height': 1.6853932584269662, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.43293539325843, 'y': 2.8089887640449436, 'width': 0.9480337078651573, 'height': 2.528089887640449, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.88202247191011, 'y': 11.376404494382022, 'width': 1.2640449438202168, 'height': 2.6685393258426977, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; 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": "UAV1 shows an overhead view capturing both sides of a road lined with buildings on one side and apartment complexes on the other; UAV2 highlights a higher perspective providing detail on buildings to the west side; UAV3 centers on a stretch of road adjacent to trees and houses; UAV4 showcases buildings alongside an elevated track in the urban environment.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624105318731299328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624105318731299328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624105318731299328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624105318731299328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624105318731299328-UAV5.png" } }, { "sequence_frame": "3-40m-1624106452866560512.png", "question_id": "MDMT_SC_7", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides more detailed insight into residential properties?", "options": { "A": "UAV1 provides a detailed view of individual residential yards", "B": "UAV2 provides a closer look at residential structures", "C": "UAV3 focuses primarily on the layout of roads near residences, avoiding detailed property views", "D": "UAV4 emphasizes a public roundabout rather than residential specifics" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 86.58707865168542, 'y': 36.51685393258429, 'width': 2.133075842696623, 'height': 3.932584269662925, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 86.42907303370787, 'y': 36.51685393258427, 'width': 2.370084269662911, 'height': 4.0730337078651715, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures residential properties with visible yards, fences, and objects like a trampoline. UAV2 highlights urban housing areas but lacks yard details. UAV3 zooms out and focuses on road layout near residential zones. UAV4 centers on a public roundabout, downplaying residential views.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624106452866560512-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624106452866560512-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624106452866560512-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624106452866560512-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624106452866560512-UAV5.png" } }, { "sequence_frame": "3-40m-1624106452866560512.png", "question_id": "MDMT_OP_7", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a better view of the spatial separation between residential and commercial areas in the scene?", "options": { "A": "UAV1 provides a clearer view due to direct comparison of adjacent residential and commercial zones", "B": "UAV2 provides a clearer view due to the presence of elevated infrastructure for separation analysis", "C": "UAV3 provides the most comprehensive view of residential housing alignment in relation to commercial blocks", "D": "UAV4 provides the clearest separation perception due to its circular viewing angle around a central roundabout" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 86.58707865168542, 'y': 36.51685393258429, 'width': 2.133075842696623, 'height': 3.932584269662925, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 86.42907303370787, 'y': 36.51685393258427, 'width': 2.370084269662911, 'height': 4.0730337078651715, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 shows an adjacent view of residential areas separated by fences and a commercial zone across the road; UAV2 highlights an elevated railway structure and its relationship with urban blocks; UAV3 emphasizes residential uniformity and alignment; UAV4 includes a broader view centering on a roundabout connecting diverse regions.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624106452866560512-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624106452866560512-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624106452866560512-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624106452866560512-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624106452866560512-UAV5.png" } }, { "sequence_frame": "3-40m-1624107791289598720.png", "question_id": "MDMT_SD_UAV3_8", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the relationship between the vehicles and the intersection in this scene?", "options": { "A": "Vehicles are actively moving through the intersection in multiple lanes", "B": "Vehicles are stopped at the intersection, waiting for others to pass", "C": "Vehicles are parked near the intersection away from traffic flow", "D": "Vehicles are absent from the intersection area" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "The scene shows a suburban area with multiple houses, trees, and a main road intersecting smaller residential roads. Vehicles can be seen actively moving through the intersection in different lanes, illustrating traffic flow and connectivity between roads.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107791289598720.png", "question_id": "MDMT_SD_UAV5_8", "question_type": "1.1 Scene Description (UAV5)", "question": "What is the interaction between the vehicles and the intersection in this scene?", "options": { "A": "Vehicles are actively crossing the intersection in various directions", "B": "Vehicles are stopped at the intersection waiting for their turn", "C": "Vehicles are parked along the roadside near the intersection", "D": "Vehicles are absent from the intersection area entirely" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "The UAV5 scene presents a multi-lane intersection surrounded by buildings and greenery. Vehicles are seen actively traversing the intersection in multiple directions, with no stationary vehicles visible at the crossing.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107791289598720.png", "question_id": "MDMT_SC_8", "question_type": "1.2 Scene Comparison", "question": "How does the visibility of residential areas differ between UAV1 and other UAV perspectives?", "options": { "A": "UAV1 provides a clear view of residential areas, while UAV3 offers a more detailed close-up of homes.", "B": "UAV1 does not show any residential areas, whereas UAV3 includes small homes surrounded by trees.", "C": "UAV3 shows residential areas clearly, while UAV1 focuses on multi-story buildings and roads instead.", "D": "Both UAV1 and UAV3 focus exclusively on residential areas with identical visibility." }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "UAV1 shows multi-story modern buildings with roads and traffic, while UAV3 shifts focus to residential areas with small houses, gardens, and trees, providing distinct urban and suburban contrasts.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107791289598720.png", "question_id": "MDMT_OP_8", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a better visualization of the spatial arrangements of the buildings and roads at intersections?", "options": { "A": "UAV1 provides a better view due to its angled perspective with a focus on road layout and surrounding structures.", "B": "UAV4 provides a clearer view due to its overview of the roundabout and nearby buildings.", "C": "UAV3 provides the best visualization by highlighting suburban residential areas and road intersections.", "D": "UAV2 provides the best view of spatial arrangements near elevated train tracks and urban structures." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "UAV1 captures a diagonal perspective showing intersections and buildings surrounded by fenced layouts; UAV2 reveals an overhead view of train tracks and urban surroundings; UAV3 highlights suburban residences and intersecting roads; UAV4 provides an overview of a circular architecture with nearby commercial buildings.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107791289598720-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107791289598720-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107791289598720-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107791289598720-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107791289598720-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_SD_UAV1_9", "question_type": "1.1 Scene Description (UAV1)", "question": "What movement pattern is observed at the central intersection in this scene?", "options": { "A": "A red car is moving straight, while other vehicles remain stationary", "B": "All vehicles are moving simultaneously in different directions", "C": "A red car is turning left while another vehicle moves in the opposite direction", "D": "Vehicles are parked around the intersection with no visible movement" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 39.50140449438202, 'y': 2.8089887640449436, 'width': 1.264044943820224, 'height': 2.1067415730337085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.09199438202247, 'y': 2.9494382022471908, 'width': 1.5800561797752763, 'height': 2.52808988764045, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The image captures a residential area with houses, trees, and roads. At the central intersection, a red car is moving straight, while other vehicles appear stationary. Pedestrian crossings and a stop marking are visible. Surrounding the roads are fenced houses and green lawns.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_SD_UAV5_9", "question_type": "1.1 Scene Description (UAV5)", "question": "What is the predominant activity involving vehicles in this scene?", "options": { "A": "Vehicles are moving smoothly in two lanes", "B": "Vehicles are parked along the side of the road", "C": "Vehicles are stationary and blocking the road", "D": "Vehicles are driving erratically across multiple lanes" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 39.50140449438202, 'y': 2.8089887640449436, 'width': 1.264044943820224, 'height': 2.1067415730337085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.09199438202247, 'y': 2.9494382022471908, 'width': 1.5800561797752763, 'height': 2.52808988764045, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a straight urban road with vehicles moving in two designated lanes, surrounded by tall buildings on either side. The road infrastructure appears organized, with visible lane markings and some stationary streetlights.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_SC_9", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides better visibility of the residential area layout?", "options": { "A": "UAV1 provides the clearest view of the residential area with distinct details like houses and green spaces.", "B": "UAV2 provides the clearest view of the residential area, showing houses and streets more prominently.", "C": "UAV3 provides the best visibility of the residential area due to its higher altitude perspective.", "D": "UAV4 provides the clearest view by emphasizing the overall grid layout of the residential area." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 39.50140449438202, 'y': 2.8089887640449436, 'width': 1.264044943820224, 'height': 2.1067415730337085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.09199438202247, 'y': 2.9494382022471908, 'width': 1.5800561797752763, 'height': 2.52808988764045, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 shows a detailed view of a residential neighborhood with clear visibility of houses, yards, and a central intersection. UAV2 focuses on urban areas with dense buildings and roads, UAV3 shows commercial structures, and UAV4 highlights buildings and green spaces but less of the residential layout.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624107811717034496.png", "question_id": "MDMT_OP_9", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer view of the overall orientation and path of the red car relative to nearby intersections?", "options": { "A": "UAV1 provides a clearer view due to its direct alignment with the intersections", "B": "UAV2 provides a clearer view due to its focus on urban surroundings", "C": "UAV3 provides a clearer view due to its higher-altitude perspective capturing multiple roads", "D": "UAV4 provides a clearer view due to its focus on nearby green spaces" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 39.50140449438202, 'y': 2.8089887640449436, 'width': 1.264044943820224, 'height': 2.1067415730337085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.09199438202247, 'y': 2.9494382022471908, 'width': 1.5800561797752763, 'height': 2.52808988764045, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 depicts the red car passing nearby intersections with surrounding residential areas, offering a direct view of the road layout and orientation. Subsequent UAV images shift focus to urban architectures, parking lots, and distant intersections from varying elevation angles.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624107811717034496-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624107811717034496-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624107811717034496-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624107811717034496-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624107811717034496-UAV5.png" } }, { "sequence_frame": "3-40m-1624108954431890688.png", "question_id": "MDMT_SC_10", "question_type": "1.2 Scene Comparison", "question": "What significant difference in the types of buildings is observable between UAV1 and UAV2 perspectives?", "options": { "A": "UAV1 focuses on residential houses, while UAV2 highlights commercial buildings", "B": "UAV1 shows a mix of commercial and industrial buildings, while UAV2 shows only residential houses", "C": "UAV1 displays industrial warehouses, whereas UAV2 focuses on high-rise apartments", "D": "Both UAV1 and UAV2 show identical building types" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.07900280898876404, 'y': 4.073033707865169, 'width': 0.7110252808988765, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 5.135182584269662, 'y': 2.247191011235955, 'width': 2.6070926966292136, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.07900280898876404, 'y': 7.443820224719102, 'width': 2.6860955056179776, 'height': 1.6853932584269655, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.07900280898876404, 'y': 31.46067415730337, 'width': 0.7110252808988765, 'height': 3.9325842696629216, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 captures an area with small residential houses surrounded by green lawns and fences, while UAV2 shows large modern buildings, including high-rises and commercial structures, in an urban environment.", "missing_models": -9, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108954431890688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108954431890688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108954431890688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108954431890688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108954431890688-UAV5.png" } }, { "sequence_frame": "3-40m-1624108954431890688.png", "question_id": "MDMT_OP_10", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer understanding of the spatial arrangement of residential buildings relative to the road network?", "options": { "A": "UAV1 provides the clearest understanding due to its focused view of residential houses and nearby streets", "B": "UAV2 provides the clearest understanding with its emphasis on the urban layout and large-scale road intersection", "C": "Both perspectives provide similar clarity of the spatial arrangement", "D": "Neither perspective provides a clear understanding of the spatial arrangement" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.07900280898876404, 'y': 4.073033707865169, 'width': 0.7110252808988765, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 5.135182584269662, 'y': 2.247191011235955, 'width': 2.6070926966292136, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.07900280898876404, 'y': 7.443820224719102, 'width': 2.6860955056179776, 'height': 1.6853932584269655, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.07900280898876404, 'y': 31.46067415730337, 'width': 0.7110252808988765, 'height': 3.9325842696629216, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a residential area with houses and their alignment relative to nearby roads. UAV2 focuses on a high-rise urban setting with major road intersections and less emphasis on residential areas.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108954431890688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108954431890688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108954431890688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108954431890688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108954431890688-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_SD_UAV1_11", "question_type": "1.1 Scene Description (UAV1)", "question": "What best describes the environmental features visible in this UAV1 scene?", "options": { "A": "A rural area with extensive fields and minimal urban structures", "B": "An urban area with individual houses, roads, and small open spaces", "C": "A densely packed cityscape with high-rise buildings and narrow streets", "D": "A forested area dominated by vegetation and natural landscapes" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 2.291081460674157, 'y': 16.15168539325843, 'width': 1.7380617977528088, 'height': 2.3876404494382046, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 3.160112359550562, 'y': 20.646067415730336, 'width': 1.8960674157303363, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 6.004213483146067, 'y': 21.769662921348313, 'width': 3.0811095505617985, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.5530196629213483, 'y': 18.820224719101123, 'width': 1.8170646067415728, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 9.831460674157304, 'width': 1.659058988764045, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 14.185393258426968, 'width': 1.5010533707865168, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 16.99438202247191, 'width': 1.4220505617977528, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.80110497237569, 'y': 91.90563886696484, 'width': 3.078137332280974, 'height': 7.997895290712975, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 60.142067876874506, 'y': 93.02815048671403, 'width': 3.4727703235990504, 'height': 6.971849513285974, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.96053670086819, 'y': 0.28062790493729717, 'width': 1.3417521704814561, 'height': 1.543453477155135, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The scene shows an urban area with individual houses, small yards surrounded by fences, multi-lane roads with vehicles, sparse trees, and nearby commercial buildings.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_SD_UAV3_11", "question_type": "1.1 Scene Description (UAV3)", "question": "Which statement best describes the environmental setting as seen from UAV3?", "options": { "A": "A mixed setting with urban structures on one side and rural houses on the other.", "B": "A purely rural area dominated by open fields and small houses.", "C": "A dense urban area surrounded entirely by multi-story buildings.", "D": "A waterfront area featuring docks and water bodies." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 2.291081460674157, 'y': 16.15168539325843, 'width': 1.7380617977528088, 'height': 2.3876404494382046, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 3.160112359550562, 'y': 20.646067415730336, 'width': 1.8960674157303363, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 6.004213483146067, 'y': 21.769662921348313, 'width': 3.0811095505617985, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.5530196629213483, 'y': 18.820224719101123, 'width': 1.8170646067415728, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 9.831460674157304, 'width': 1.659058988764045, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 14.185393258426968, 'width': 1.5010533707865168, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 16.99438202247191, 'width': 1.4220505617977528, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.80110497237569, 'y': 91.90563886696484, 'width': 3.078137332280974, 'height': 7.997895290712975, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 60.142067876874506, 'y': 93.02815048671403, 'width': 3.4727703235990504, 'height': 6.971849513285974, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.96053670086819, 'y': 0.28062790493729717, 'width': 1.3417521704814561, 'height': 1.543453477155135, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The scene shows several urban structures, including a multi-story building beside a road, and smaller rural houses with gardens located across the street. The environment combines urban and rural features.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_SD_UAV4_11", "question_type": "1.1 Scene Description (UAV4)", "question": "What type of environment is depicted in the scene, considering the layout and objects visible?", "options": { "A": "A densely packed urban area dominated by high-rise buildings", "B": "A suburban area with a mix of residential houses and commercial buildings", "C": "A rural area with open green spaces and isolated structures", "D": "An industrial zone surrounded by warehouses and large factories" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 2.291081460674157, 'y': 16.15168539325843, 'width': 1.7380617977528088, 'height': 2.3876404494382046, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 3.160112359550562, 'y': 20.646067415730336, 'width': 1.8960674157303363, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 6.004213483146067, 'y': 21.769662921348313, 'width': 3.0811095505617985, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.5530196629213483, 'y': 18.820224719101123, 'width': 1.8170646067415728, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 9.831460674157304, 'width': 1.659058988764045, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 14.185393258426968, 'width': 1.5010533707865168, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 16.99438202247191, 'width': 1.4220505617977528, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.80110497237569, 'y': 91.90563886696484, 'width': 3.078137332280974, 'height': 7.997895290712975, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 60.142067876874506, 'y': 93.02815048671403, 'width': 3.4727703235990504, 'height': 6.971849513285974, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.96053670086819, 'y': 0.28062790493729717, 'width': 1.3417521704814561, 'height': 1.543453477155135, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The image shows a mix of three-story modern-looking buildings on one side and a fenced residential house with a garden on the other side, separated by a multi-lane road with parked and moving vehicles. In the background, an elevated railway line is visible alongside small grassy fields and trees.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_SD_UAV5_11", "question_type": "1.1 Scene Description (UAV5)", "question": "What type of environment is depicted in the scene captured by UAV5?", "options": { "A": "A suburban neighborhood with small houses and gardens", "B": "An urban setting with tall buildings and a multi-lane road", "C": "A natural area with forests and unpaved paths", "D": "A coastal area with beaches and waterfront structures" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 2.291081460674157, 'y': 16.15168539325843, 'width': 1.7380617977528088, 'height': 2.3876404494382046, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 3.160112359550562, 'y': 20.646067415730336, 'width': 1.8960674157303363, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 6.004213483146067, 'y': 21.769662921348313, 'width': 3.0811095505617985, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.5530196629213483, 'y': 18.820224719101123, 'width': 1.8170646067415728, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 9.831460674157304, 'width': 1.659058988764045, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 14.185393258426968, 'width': 1.5010533707865168, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 16.99438202247191, 'width': 1.4220505617977528, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.80110497237569, 'y': 91.90563886696484, 'width': 3.078137332280974, 'height': 7.997895290712975, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 60.142067876874506, 'y': 93.02815048671403, 'width': 3.4727703235990504, 'height': 6.971849513285974, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.96053670086819, 'y': 0.28062790493729717, 'width': 1.3417521704814561, 'height': 1.543453477155135, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The scene shows a dense urban environment with multi-lane roads, vehicles, tall modern buildings, and organized pedestrian pathways. The layout features high-rise structures on both sides of the road, indicating an inner-city setting.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_SC_11", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective highlights the presence of park-like green spaces more distinctly?", "options": { "A": "UAV1, with its focus on residential lawns and smaller enclosed gardens", "B": "UAV2, due to the visible large circular green space near the roundabout", "C": "UAV3, as it emphasizes both residential and commercial open areas", "D": "UAV4, because it provides an overview of dense greenery along the road" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 2.291081460674157, 'y': 16.15168539325843, 'width': 1.7380617977528088, 'height': 2.3876404494382046, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 3.160112359550562, 'y': 20.646067415730336, 'width': 1.8960674157303363, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 6.004213483146067, 'y': 21.769662921348313, 'width': 3.0811095505617985, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.5530196629213483, 'y': 18.820224719101123, 'width': 1.8170646067415728, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 9.831460674157304, 'width': 1.659058988764045, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 14.185393258426968, 'width': 1.5010533707865168, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 16.99438202247191, 'width': 1.4220505617977528, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.80110497237569, 'y': 91.90563886696484, 'width': 3.078137332280974, 'height': 7.997895290712975, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 60.142067876874506, 'y': 93.02815048671403, 'width': 3.4727703235990504, 'height': 6.971849513285974, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.96053670086819, 'y': 0.28062790493729717, 'width': 1.3417521704814561, 'height': 1.543453477155135, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 primarily shows residential properties with small green lawns and enclosed spaces. UAV2 features a large circular park-like green space surrounding monuments near a roundabout. UAV3 shows a mix of residential lawns and nearby commercial structures, while UAV4 highlights greenery along the road but lacks larger parks or open spaces.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624108967590171392.png", "question_id": "MDMT_OP_11", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better captures the spatial relationship between fenced properties and adjacent roadways?", "options": { "A": "UAV1 provides a clearer view of fenced properties due to its side-angle perspective", "B": "UAV3 provides the most detailed context of proximity to adjacent roadways", "C": "UAV2 emphasizes the overall alignment of properties with urban infrastructure and roundabouts", "D": "UAV4 provides an overhead view that minimizes clarity of individual property features" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 2.291081460674157, 'y': 16.15168539325843, 'width': 1.7380617977528088, 'height': 2.3876404494382046, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 3.160112359550562, 'y': 20.646067415730336, 'width': 1.8960674157303363, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 6.004213483146067, 'y': 21.769662921348313, 'width': 3.0811095505617985, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.5530196629213483, 'y': 18.820224719101123, 'width': 1.8170646067415728, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 9.831460674157304, 'width': 1.659058988764045, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 14.185393258426968, 'width': 1.5010533707865168, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 16.99438202247191, 'width': 1.4220505617977528, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.80110497237569, 'y': 91.90563886696484, 'width': 3.078137332280974, 'height': 7.997895290712975, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 60.142067876874506, 'y': 93.02815048671403, 'width': 3.4727703235990504, 'height': 6.971849513285974, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.96053670086819, 'y': 0.28062790493729717, 'width': 1.3417521704814561, 'height': 1.543453477155135, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 captures an angled view of fenced residential properties and open spaces, focusing on architectural details. UAV2 highlights the urban infrastructure with a broader perspective including a central roundabout. UAV3 shows a detailed view of fenced properties aligned closely with parallel roadways. UAV4 offers a high vertical view focusing more on the general layout rather than specific spatial relationships.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624108967590171392-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624108967590171392-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624108967590171392-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624108967590171392-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624108967590171392-UAV5.png" } }, { "sequence_frame": "3-40m-1624111375755501568.png", "question_id": "MDMT_SD_UAV4_12", "question_type": "1.1 Scene Description (UAV4)", "question": "What is the spatial relationship between the curved railway tracks and the nearby open area?", "options": { "A": "The railway tracks are parallel to the open area and located directly adjacent to it", "B": "The railway tracks form a perpendicular intersection with the open area", "C": "The railway tracks curve sharply away from the open area into a forested landscape", "D": "The railway tracks are aligned behind the buildings, and the open area is isolated from them" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 36.57830056179775, 'y': 93.67977528089888, 'width': 6.320224719101127, 'height': 6.32022471910112, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The image shows curved railway tracks adjacent to an open paved area, with buildings located close to the edge of the open space.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624111375755501568-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624111375755501568-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624111375755501568-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624111375755501568-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624111375755501568-UAV5.png" } }, { "sequence_frame": "3-40m-1624111375755501568.png", "question_id": "MDMT_SC_12", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective best reveals the layout of the buildings near the intersection?", "options": { "A": "UAV1 provides a wide view of the buildings and their spatial layout near the intersection", "B": "UAV2 emphasizes the road and vehicles, with buildings being partly occluded", "C": "UAV3 offers a focused view of the buildings but misses the intersection layout", "D": "UAV4 does not sufficiently show the buildings near the intersection due to its angle" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 36.57830056179775, 'y': 93.67977528089888, 'width': 6.320224719101127, 'height': 6.32022471910112, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures the intersection and nearby buildings clearly with a top-down view, while UAV2 focuses more on vehicles near a gasoline station and buildings are obscured; UAV3 provides a glimpse of buildings near a curved road; UAV4 shows primarily railroad tracks and less urban structure detail.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624111375755501568-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624111375755501568-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624111375755501568-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624111375755501568-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624111375755501568-UAV5.png" } }, { "sequence_frame": "3-40m-1624111375755501568.png", "question_id": "MDMT_OP_12", "question_type": "1.3 Observing Posture", "question": "Which UAV provides the clearest view of the vehicle's position relative to crosswalk markings?", "options": { "A": "UAV1 provides the clearest view due to its vertically centered perspective on intersections", "B": "UAV2 provides the clearest view because its angle captures crosswalk details from the side", "C": "UAV3 offers the most comprehensive view of the entire road intersection, highlighting vehicle alignment", "D": "UAV4 provides the clearest view of the road and crosswalk markings due to its focus on curves" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 36.57830056179775, 'y': 93.67977528089888, 'width': 6.320224719101127, 'height': 6.32022471910112, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 provides a central overhead angle focusing on intersections and crosswalks; UAV2 has a side angle partially obscuring markings; UAV3 shows a wider area but less direct focus on crosswalks; UAV4 focuses on road curves near intersections rather than crosswalk details.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624111375755501568-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624111375755501568-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624111375755501568-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624111375755501568-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624111375755501568-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_SD_UAV1_13", "question_type": "1.1 Scene Description (UAV1)", "question": "What type of environmental setting is represented in this scene from UAV1?", "options": { "A": "A suburban area with individual houses and gardens", "B": "A dense urban area dominated by skyscrapers", "C": "A rural area with large open fields and scattered farms", "D": "An industrial zone with factories and warehouses" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 19.039676966292134, 'y': 22.6123595505618, 'width': 1.8960674157303359, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 21.804775280898873, 'y': 17.415730337078653, 'width': 1.3430477528089924, 'height': 2.668539325842694, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.07900280898876404, 'y': 40.87078651685393, 'width': 0.9480337078651684, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.04424157303371, 'y': 3.089887640449438, 'width': 1.1060393258426942, 'height': 2.1067415730337085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 52.22085674157303, 'y': 0.1404494382022472, 'width': 1.0270365168539257, 'height': 0.8426966292134831, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The image depicts a suburban environment where individual houses with gardens are arranged along a road, separated by fences, with larger multi-unit buildings visible beyond the road. Trees and green spaces are present.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_SD_UAV2_13", "question_type": "1.1 Scene Description (UAV2)", "question": "How would you describe the environmental setting shown in this scene?", "options": { "A": "A suburban area with sparse infrastructure and greenery", "B": "A dense urban area with multi-lane roads and mid-rise buildings", "C": "A rural area with open fields and few developments", "D": "An industrial area with warehouses and factories" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 19.039676966292134, 'y': 22.6123595505618, 'width': 1.8960674157303359, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 21.804775280898873, 'y': 17.415730337078653, 'width': 1.3430477528089924, 'height': 2.668539325842694, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.07900280898876404, 'y': 40.87078651685393, 'width': 0.9480337078651684, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.04424157303371, 'y': 3.089887640449438, 'width': 1.1060393258426942, 'height': 2.1067415730337085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 52.22085674157303, 'y': 0.1404494382022472, 'width': 1.0270365168539257, 'height': 0.8426966292134831, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 dense urban environment featuring multi-lane roads, mid-rise buildings with curved architecture, parking areas, and urban greenery. Multiple vehicles and traffic infrastructure highlight the city's layout.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_SC_13", "question_type": "1.2 Scene Comparison", "question": "How do the types and arrangement of residential buildings differ in UAV1 compared to the other UAV perspectives?", "options": { "A": "UAV1 shows individual houses with fences, while other UAV perspectives show clustered apartment blocks.", "B": "UAV1 shows apartment blocks on the left, while other UAV perspectives show individual houses on the roads.", "C": "UAV1 shows only commercial buildings, while the other UAV perspectives show residential ones.", "D": "UAV1 shows larger industrial structures, while other UAV perspectives show parks and gardens." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 19.039676966292134, 'y': 22.6123595505618, 'width': 1.8960674157303359, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 21.804775280898873, 'y': 17.415730337078653, 'width': 1.3430477528089924, 'height': 2.668539325842694, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.07900280898876404, 'y': 40.87078651685393, 'width': 0.9480337078651684, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.04424157303371, 'y': 3.089887640449438, 'width': 1.1060393258426942, 'height': 2.1067415730337085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 52.22085674157303, 'y': 0.1404494382022472, 'width': 1.0270365168539257, 'height': 0.8426966292134831, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures a row of fenced individual houses with gardens. Subsequent perspectives show larger apartment complexes, streets with commercial buildings, and clustered urban layouts. Residential houses are only visible in UAV1.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624114615476825088.png", "question_id": "MDMT_OP_13", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better highlights the arrangement of residential buildings relative to the road layout?", "options": { "A": "UAV1 provides a better perspective due to its focus on the residential area layout along the main road", "B": "UAV2 provides a better perspective due to its view of a central urban district and road intersections", "C": "UAV3 provides better clarity due to its angled view of residential buildings alongside a curved roadway", "D": "UAV4 provides better alignment visualization with its overhead view of intersection geometries" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 19.039676966292134, 'y': 22.6123595505618, 'width': 1.8960674157303359, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 21.804775280898873, 'y': 17.415730337078653, 'width': 1.3430477528089924, 'height': 2.668539325842694, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0.07900280898876404, 'y': 40.87078651685393, 'width': 0.9480337078651684, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.04424157303371, 'y': 3.089887640449438, 'width': 1.1060393258426942, 'height': 2.1067415730337085, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 52.22085674157303, 'y': 0.1404494382022472, 'width': 1.0270365168539257, 'height': 0.8426966292134831, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 presents a top-down view of residential buildings aligned in parallel with a straight road. Subsequent UAV perspectives focus more on urban districts, intersections, and curved roads, offering varied viewing angles and contexts.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624114615476825088-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624114615476825088-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624114615476825088-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624114615476825088-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624114615476825088-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_SD_UAV3_14", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the relationship between the road and the buildings in this scene?", "options": { "A": "Buildings are clustered along both sides of the road", "B": "Buildings are primarily located away from the road, separated by gardens", "C": "Buildings are scattered randomly without a defined relationship to the road", "D": "Buildings are positioned in a circular arrangement around the road" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 41.47647471910112, 'y': 25.842696629213485, 'width': 3.002106741573037, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 multiple buildings aligned along both sides of a straight road. On the left, a mix of urban buildings and houses. On the right, residential houses are arranged in rows, separated by green areas and fences.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_SC_14", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides better visibility of the fenced property near the trees?", "options": { "A": "UAV1 provides clearer visibility due to its angle above the property", "B": "UAV2 provides a wider view showing the fenced property in context with nearby buildings", "C": "UAV3 provides the clearest overview by capturing additional details of the fenced yard", "D": "UAV4 obscures the fenced property due to its low viewing angle" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 41.47647471910112, 'y': 25.842696629213485, 'width': 3.002106741573037, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 shows a fenced property near trees with a clear overhead view, while UAV2 offers a broader view but less direct focus on the property. UAV3 provides an alternative angle with partial visibility, and UAV4 includes the fenced zone but lacks detail due to perspective limitation.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624170864769928192.png", "question_id": "MDMT_OP_14", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a better view of the spatial relationship between the fenced property and nearby road infrastructure?", "options": { "A": "UAV1 provides a clearer view due to its closer proximity to the fenced property", "B": "UAV2 provides a clearer view due to its angle revealing more of the intersection layout", "C": "Both UAV perspectives provide equally clear spatial relationships", "D": "Neither UAV perspective provides a clear view of the spatial relationship" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 41.47647471910112, 'y': 25.842696629213485, 'width': 3.002106741573037, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures the fenced property adjacent to a road with visible shadowing and nearby elevated infrastructure; subsequent UAV angles prioritize intersections and alternate building orientations.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624170864769928192-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624170864769928192-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624170864769928192-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624170864769928192-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624170864769928192-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_SC_15", "question_type": "1.2 Scene Comparison", "question": "How does the visibility of buildings vary between UAV1 and the other UAV perspectives?", "options": { "A": "UAV1 provides the most detailed view of the individual roofs of the buildings compared to others", "B": "UAV2 provides the clearest view of the building arrangement with minimal occlusion", "C": "UAV3 provides a comprehensive view of the buildings and their surroundings, while UAV1 omits some structures due to occlusion", "D": "UAV4 provides no building visibility, focusing entirely on roads and vehicles" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 49.19716142580374, 'y': 0.07207276941442507, 'width': 1.500014513437712, 'height': 1.1531643106308012, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.77828683170813, 'y': 0.14414553882885014, 'width': 1.2162279838684285, 'height': 1.009018771801951, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 1.7474489795918395, 'y': 17.959183673469386, 'width': 1.9897959183673466, 'height': 2.857142857142854, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures the buildings prominently, especially their roofs, with some occlusion by the elevated railway. UAV2 shifts focus to a broader urban layout, UAV3 includes greenery and nearby structures with alternating visibility, while UAV4 transitions further away from central buildings, showing individual houses and road segments.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171352874600448.png", "question_id": "MDMT_OP_15", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer view of the alignment between the elevated rail structure and nearby buildings?", "options": { "A": "UAV1 provides a clearer view due to its focus on the rail structure and nearby buildings", "B": "UAV2 provides a clearer view due to its overhead perspective on the buildings", "C": "UAV3 provides a clearer view due to its proximity to the central road and nearby objects", "D": "Neither UAV perspective provides a particularly clear view of the alignment" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 49.19716142580374, 'y': 0.07207276941442507, 'width': 1.500014513437712, 'height': 1.1531643106308012, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.77828683170813, 'y': 0.14414553882885014, 'width': 1.2162279838684285, 'height': 1.009018771801951, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 1.7474489795918395, 'y': 17.959183673469386, 'width': 1.9897959183673466, 'height': 2.857142857142854, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures a high-angle view where the elevated rail structure's alignment with nearby buildings is visible. Subsequent images from UAV2, UAV3, UAV4, and UAV5 focus on roads, vehicles, and green spaces from various overhead angles, with less emphasis on the rail structure and its interaction with surrounding buildings.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171352874600448-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171352874600448-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171352874600448-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171352874600448-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171352874600448-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_SC_16", "question_type": "1.2 Scene Comparison", "question": "How does the visibility of buildings in the scene differ between UAV1 and UAV3 perspectives?", "options": { "A": "UAV1 provides a clearer view of commercial buildings while UAV3 highlights residential buildings", "B": "Both UAV1 and UAV3 equally highlight residential and commercial buildings", "C": "UAV3 provides clearer visibility of residential buildings, while UAV1 shows a more obstructed view", "D": "Neither UAV1 nor UAV3 provide clear visibility of the buildings" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 48.31811797752809, 'y': 0, 'width': 1.7380617977528061, 'height': 0.7724719101123596, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 89.77089185393258, 'y': 65.50561797752809, 'width': 6.170119382022477, 'height': 3.7078651685393282, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 focuses on a parking structure and nearby commercial infrastructure, with residential buildings in the background. UAV3 shifts to a closer perspective of residential buildings and a row of garages, highlighting a more suburban environment.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "3-40m-1624171377571127296.png", "question_id": "MDMT_OP_16", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides the clearest view of the relationship between the road's curves and nearby buildings?", "options": { "A": "UAV1 provides the clearest view due to its higher altitude and oblique angle", "B": "UAV4 provides the clearest view due to its direct alignment with the road curves", "C": "UAV3 provides the clearest view due to its focus on surrounding buildings and curvature", "D": "UAV5 provides the clearest view due to its balanced angle showing both road and buildings" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 48.31811797752809, 'y': 0, 'width': 1.7380617977528061, 'height': 0.7724719101123596, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 89.77089185393258, 'y': 65.50561797752809, 'width': 6.170119382022477, 'height': 3.7078651685393282, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures a wide view of a curved intersection with several buildings in the background, while UAV4 focuses directly on the curves with surrounding structures. UAV3 highlights rows of buildings near a straight road section, and UAV5 captures a roundabout and building arrangement.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/3-40m-1624171377571127296-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/3-40m-1624171377571127296-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/3-40m-1624171377571127296-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/3-40m-1624171377571127296-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/3-40m-1624171377571127296-UAV5.png" } }, { "sequence_frame": "4-40m-1629091952438388224.png", "question_id": "MDMT_SD_UAV3_17", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the dominant environmental context of this scene?", "options": { "A": "A suburban area with residential houses and open green space", "B": "A rural area dominated by farmland and sparse development", "C": "An urban area with skyscrapers and dense traffic", "D": "A coastal region with beaches and waterfronts" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.39501404494382025, 'y': 13.202247191011235, 'width': 1.5800561797752808, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 23.735955056179776, 'width': 1.8170646067415728, 'height': 2.387640449438205, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 21.804775280898873, 'y': 8.707865168539326, 'width': 1.1850421348314626, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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": "The scene depicts a suburban area featuring residential houses with tiled roofs adjacent to a main road. There is open green space with trees and a rocky hill formation. Multiple vehicles are visible on the roads, and the overall environment is well-organized with a mixture of natural and human-made features.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629091952438388224-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629091952438388224-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629091952438388224-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629091952438388224-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629091952438388224-UAV5.png" } }, { "sequence_frame": "4-40m-1629091952438388224.png", "question_id": "MDMT_SC_17", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides a clearer view of the buildings near the curved road?", "options": { "A": "UAV1 provides the clearest view of the buildings near the curved road", "B": "UAV2 provides a clearer view due to its higher angle and proximity to the buildings", "C": "UAV3 provides the clearest view of the buildings near the curved road due to its position and angle", "D": "No perspective provides a clear view of the buildings near the curved road" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.39501404494382025, 'y': 13.202247191011235, 'width': 1.5800561797752808, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 23.735955056179776, 'width': 1.8170646067415728, 'height': 2.387640449438205, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 21.804775280898873, 'y': 8.707865168539326, 'width': 1.1850421348314626, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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 captures a view focused on vehicles along the highway and trees near the water; UAV2 shows a slightly elevated view of the road layout with part of the buildings visible; UAV3 provides the clearest view of the curved road and nearby buildings at a closer angle.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629091952438388224-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629091952438388224-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629091952438388224-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629091952438388224-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629091952438388224-UAV5.png" } }, { "sequence_frame": "4-40m-1629091952438388224.png", "question_id": "MDMT_OP_17", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer view of the waterfront's slope and the alignment of vehicles along the road?", "options": { "A": "UAV1 provides a clearer view due to its lower angle focusing on the waterfront slope and vehicle alignment", "B": "UAV2 provides a clearer view as it shows a broader overhead view of the road and its surroundings", "C": "UAV3 provides the best view with better context of the alignment of houses relative to the waterfront", "D": "UAV4 provides a better view of the urban area but does not emphasize the road's alignment and waterfront slope" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 0.39501404494382025, 'y': 13.202247191011235, 'width': 1.5800561797752808, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 0, 'y': 23.735955056179776, 'width': 1.8170646067415728, 'height': 2.387640449438205, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 21.804775280898873, 'y': 8.707865168539326, 'width': 1.1850421348314626, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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 captures a lower-angle view focusing primarily on the curve of the waterfront and the alignment of vehicles along the road. UAV2 provides a higher, broader view including more context of the surroundings. Subsequent UAVs add urban and mountainous features that shift the focus away from the waterfront slope.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629091952438388224-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629091952438388224-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629091952438388224-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629091952438388224-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629091952438388224-UAV5.png" } }, { "sequence_frame": "4-40m-1629093666833511680.png", "question_id": "MDMT_SC_18", "question_type": "1.2 Scene Comparison", "question": "Which perspective highlights the presence of buildings near the water, and how do they compare to the other images?", "options": { "A": "Only UAV5 shows buildings near the water clearly", "B": "UAV3 and UAV5 both show buildings, but UAV5 includes water", "C": "UAV1 and UAV5 show buildings near the road and water", "D": "None of the UAV perspectives include buildings near the water" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Too small; Perception degradation: Object occlusion, Low SNR (noisy), 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': 13.825491573033707, 'y': 13.623595505617978, 'width': 1.343047752808987, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 19.118679775280896, 'y': 13.342696629213483, 'width': 1.3430477528089924, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 29.231039325842694, 'y': 14.04494382022472, 'width': 0.9480337078651715, 'height': 1.2640449438202257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.84023876404495, 'y': 12.640449438202248, 'width': 1.501053370786515, 'height': 1.825842696629211, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 35.63026685393258, 'y': 13.764044943820226, 'width': 1.6590589887640448, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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 focuses primarily on winding roads and vegetation areas without visible buildings. UAV5 captures two clear buildings near the water's edge. UAV3 emphasizes rocky terrains and does not show buildings. UAV2 and UAV4 primarily display road layouts and traffic without focusing on buildings.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629093666833511680-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629093666833511680-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629093666833511680-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629093666833511680-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629093666833511680-UAV5.png" } }, { "sequence_frame": "4-40m-1629093666833511680.png", "question_id": "MDMT_OP_18", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides the clearest view of the red car's relative position on the curved road?", "options": { "A": "UAV1 provides the clearest view as it captures the road curvature and vehicle positioning from above.", "B": "UAV2 provides the clearest view as it shows the area near the highway with detailed vehicle positioning.", "C": "UAV3 provides the clearest view as it highlights the rocky terrain rather than the vehicle movement.", "D": "UAV4 provides the clearest view due to its focus on the broader highway and traffic dynamics." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Too small; Perception degradation: Object occlusion, Low SNR (noisy), 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': 13.825491573033707, 'y': 13.623595505617978, 'width': 1.343047752808987, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 19.118679775280896, 'y': 13.342696629213483, 'width': 1.3430477528089924, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 29.231039325842694, 'y': 14.04494382022472, 'width': 0.9480337078651715, 'height': 1.2640449438202257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.84023876404495, 'y': 12.640449438202248, 'width': 1.501053370786515, 'height': 1.825842696629211, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 35.63026685393258, 'y': 13.764044943820226, 'width': 1.6590589887640448, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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 an overhead view of a curved road with a red car positioned on it, surrounded by trees and rocky terrain. Subsequent UAVs focus on the highway traffic, rocky terrain, and seaside houses, showing different angles of the scene.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629093666833511680-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629093666833511680-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629093666833511680-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629093666833511680-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629093666833511680-UAV5.png" } }, { "sequence_frame": "4-40m-1629095239127567616.png", "question_id": "MDMT_SD_UAV1_19", "question_type": "1.1 Scene Description (UAV1)", "question": "What is the spatial arrangement between the highway, elevated terrain, and nearby buildings in this scene?", "options": { "A": "The highway runs parallel to elevated terrain, with buildings located on the far side of the terrain", "B": "The highway crosses the elevated terrain, with buildings scattered evenly on both sides", "C": "The elevated terrain divides the highway and buildings into separate regions", "D": "The buildings are directly adjacent to the highway, with no elevated terrain in the scene" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 24.49087078651685, 'y': 10.814606741573034, 'width': 1.5010533707865186, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.60323033707864, 'y': 9.691011235955042, 'width': 0.9480337078651816, 'height': 1.5449438202247168, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 7.82127808988764, 'y': 31.179775280898873, 'width': 1.3430477528089888, 'height': 2.949438202247194, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3061797752809, 'y': 95.36516853932584, 'width': 3.0811095505617843, 'height': 4.634831460674164, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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 multi-lane highway running parallel to an elevated terrain with trees. On the far side of the elevated terrain, buildings are clustered together, including roads, a parking area, and residential structures.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629095239127567616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629095239127567616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629095239127567616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629095239127567616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629095239127567616-UAV5.png" } }, { "sequence_frame": "4-40m-1629095239127567616.png", "question_id": "MDMT_SC_19", "question_type": "1.2 Scene Comparison", "question": "How do the types and arrangement of residential buildings differ between UAV1 and subsequent UAV perspectives?", "options": { "A": "UAV1 primarily shows individual residential buildings, while UAV2 emphasizes apartment complexes and parking layouts.", "B": "UAV1 focuses on apartment complexes, while UAV2 and UAV3 show individual houses surrounded by green space.", "C": "Both UAV1 and UAV2 show the same distribution of houses and apartment buildings.", "D": "UAV1 includes a mix of houses and apartment complexes, whereas UAV2 solely shows industrial buildings." }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 24.49087078651685, 'y': 10.814606741573034, 'width': 1.5010533707865186, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.60323033707864, 'y': 9.691011235955042, 'width': 0.9480337078651816, 'height': 1.5449438202247168, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 7.82127808988764, 'y': 31.179775280898873, 'width': 1.3430477528089888, 'height': 2.949438202247194, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3061797752809, 'y': 95.36516853932584, 'width': 3.0811095505617843, 'height': 4.634831460674164, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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": "UAV1 captures the edge of a residential area, a cliff, and a highway, highlighting organized housing and open green spaces; UAV2 provides a direct view of the parking lot and apartment complexes; UAV3 emphasizes individual houses surrounded by trees and curved streets.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629095239127567616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629095239127567616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629095239127567616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629095239127567616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629095239127567616-UAV5.png" } }, { "sequence_frame": "4-40m-1629095239127567616.png", "question_id": "MDMT_OP_19", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer understanding of the spatial layout of the cliff relative to the road and nearby buildings?", "options": { "A": "UAV1 provides the clearest view due to its wide-angle perspective, covering both the cliff and the road", "B": "UAV3 provides the clearest view as it focuses on the cliff alignment with the buildings", "C": "UAV4 provides the clearest view as it emphasizes the entirety of the residential area near the cliff", "D": "UAV5 provides the clearest view due to its side-focused perspective showing the curve of the road near the cliff" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 24.49087078651685, 'y': 10.814606741573034, 'width': 1.5010533707865186, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.60323033707864, 'y': 9.691011235955042, 'width': 0.9480337078651816, 'height': 1.5449438202247168, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 7.82127808988764, 'y': 31.179775280898873, 'width': 1.3430477528089888, 'height': 2.949438202247194, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3061797752809, 'y': 95.36516853932584, 'width': 3.0811095505617843, 'height': 4.634831460674164, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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": "UAV1 shows a wide-angle view covering the cliff, road, and nearby buildings; UAV3 focuses more directly on the cliff near residential buildings; UAV4 emphasizes residential area layout along with surrounding greenery; UAV5 highlights the curve of the road adjacent to the cliff.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629095239127567616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629095239127567616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629095239127567616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629095239127567616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629095239127567616-UAV5.png" } }, { "sequence_frame": "4-40m-1629096982293769472.png", "question_id": "MDMT_SD_UAV4_20", "question_type": "1.1 Scene Description (UAV4)", "question": "What can be inferred about vehicle movement patterns in this scene?", "options": { "A": "Vehicles are actively moving along the main road near the multi-story apartment building", "B": "Vehicles are parked along the roadside and appear stationary", "C": "Vehicles are maneuvering through the parking lot near the commercial area", "D": "There are no vehicles visible in the scene" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 49.13974719101123, 'y': 2.6685393258426964, 'width': 1.659058988764052, 'height': 1.6853932584269669, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.03370786516854, 'y': 0.2808988764044944, 'width': 1.1060393258426942, 'height': 1.6853932584269662, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.21453651685393, 'y': 1.8258426966292134, 'width': 1.4220505617977537, 'height': 1.4044943820224722, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.32268258426966, 'y': 2.387640449438202, 'width': 1.4220505617977608, 'height': 1.123595505617978, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.32689606741573, 'y': 3.932584269662921, 'width': 1.2640449438202168, 'height': 1.685393258426966, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 37.36832865168539, 'y': 6.179775280898876, 'width': 1.3430477528089924, 'height': 1.404494382022473, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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 view shows a mixed environment with a forested area in the foreground, a curving road separating a residential area with houses and multi-story apartment buildings, and a parking lot in the background near commercial establishments. Vehicles are visible along the roadside, appearing stationary.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629096982293769472-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629096982293769472-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629096982293769472-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629096982293769472-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629096982293769472-UAV5.png" } }, { "sequence_frame": "4-40m-1629096982293769472.png", "question_id": "MDMT_SC_20", "question_type": "1.2 Scene Comparison", "question": "How do the types of structures visible in UAV1 differ from those visible in UAV4?", "options": { "A": "UAV1 predominantly shows natural elements like trees and rocks, while UAV4 emphasizes buildings and urban structures.", "B": "Both UAV1 and UAV4 only display natural structures like trees and rocks.", "C": "UAV1 contains a mix of urban and natural structures, while UAV4 focuses solely on trees.", "D": "UAV1 shows a densely populated urban area, while UAV4 shows construction equipment." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 49.13974719101123, 'y': 2.6685393258426964, 'width': 1.659058988764052, 'height': 1.6853932584269669, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.03370786516854, 'y': 0.2808988764044944, 'width': 1.1060393258426942, 'height': 1.6853932584269662, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.21453651685393, 'y': 1.8258426966292134, 'width': 1.4220505617977537, 'height': 1.4044943820224722, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.32268258426966, 'y': 2.387640449438202, 'width': 1.4220505617977608, 'height': 1.123595505617978, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.32689606741573, 'y': 3.932584269662921, 'width': 1.2640449438202168, 'height': 1.685393258426966, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 37.36832865168539, 'y': 6.179775280898876, 'width': 1.3430477528089924, 'height': 1.404494382022473, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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": "UAV1 shows a road surrounded by trees with adjacent rocky terrains. UAV4 has more emphasis on buildings, including residential blocks and commercial urban structures interspersed among trees.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629096982293769472-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629096982293769472-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629096982293769472-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629096982293769472-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629096982293769472-UAV5.png" } }, { "sequence_frame": "4-40m-1629096982293769472.png", "question_id": "MDMT_OP_20", "question_type": "1.3 Observing Posture", "question": "Given the perspectives captured by UAV1 and subsequent UAVs, which viewpoint provides the clearest depiction of the overall traffic flow on the main highway?", "options": { "A": "UAV1 provides the clearest view due to its focused, linear perspective along the highway", "B": "UAV2 provides a better view as it captures a wider area with additional intersecting roads", "C": "UAV3 provides the most detailed view due to its focus on residential intersections", "D": "UAV4 provides a clearer view by emphasizing the relationship between the highway and nearby buildings" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 49.13974719101123, 'y': 2.6685393258426964, 'width': 1.659058988764052, 'height': 1.6853932584269669, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.03370786516854, 'y': 0.2808988764044944, 'width': 1.1060393258426942, 'height': 1.6853932584269662, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.21453651685393, 'y': 1.8258426966292134, 'width': 1.4220505617977537, 'height': 1.4044943820224722, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.32268258426966, 'y': 2.387640449438202, 'width': 1.4220505617977608, 'height': 1.123595505617978, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.32689606741573, 'y': 3.932584269662921, 'width': 1.2640449438202168, 'height': 1.685393258426966, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 37.36832865168539, 'y': 6.179775280898876, 'width': 1.3430477528089924, 'height': 1.404494382022473, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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": "UAV1 captures a top-down view of the main highway with visible traffic lanes and vehicle movement in a linear arrangement. Subsequent UAVs shift focus towards intersections, residential areas, and roads branching off from the highway, while including contextual elements such as buildings and cliffs.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629096982293769472-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629096982293769472-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629096982293769472-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629096982293769472-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629096982293769472-UAV5.png" } }, { "sequence_frame": "4-40m-1629097589330443008.png", "question_id": "MDMT_SD_UAV3_21", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the arrangement of residential buildings relative to the road network in this scene?", "options": { "A": "Residential buildings are grouped together with access paths connecting directly to the main road", "B": "Residential buildings are scattered unevenly, with no clear connection to any roads", "C": "Residential buildings are positioned along parallel roads with clear access paths", "D": "Residential buildings are located far away from any visible roads" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 33.892205056179776, 'y': 95.50561797752809, 'width': 4.424157303370784, 'height': 4.49438202247191, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 85.63904494382022, 'y': 80.19662921348315, 'width': 2.4490870786516865, 'height': 4.49438202247191, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 87.29810393258427, 'y': 59.41011235955056, 'width': 1.9750702247191043, 'height': 5.7584269662921415, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.92977528089887, 'y': 0, 'width': 1.3430477528089853, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 25.754915730337082, 'y': 0.1404494382022472, 'width': 1.8960674157303323, 'height': 1.544943820224719, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 20.69873595505618, 'y': 4.073033707865169, 'width': 1.1850421348314626, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 92.67029494382022, 'y': 20.926966292134832, 'width': 2.2120786516853883, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The image shows a neighborhood with residential buildings arranged along parallel roads. The roads are connected by pathways, and several houses are surrounded by fences. A larger red house stands out in the center. The scene also includes trees and a distant intersection with visible traffic.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629097589330443008-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629097589330443008-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629097589330443008-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629097589330443008-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629097589330443008-UAV5.png" } }, { "sequence_frame": "4-40m-1629097589330443008.png", "question_id": "MDMT_SC_21", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective shows a clearer view of the residential area boundaries?", "options": { "A": "UAV1 provides a comprehensive view of residential boundaries near a cliffside and road", "B": "UAV2 shows the largest residential properties but fewer boundary details", "C": "UAV3 offers the clearest boundary details of multiple smaller residential properties", "D": "UAV4 focuses solely on the road layout, with minimal residential boundary visibility" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 33.892205056179776, 'y': 95.50561797752809, 'width': 4.424157303370784, 'height': 4.49438202247191, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 85.63904494382022, 'y': 80.19662921348315, 'width': 2.4490870786516865, 'height': 4.49438202247191, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 87.29810393258427, 'y': 59.41011235955056, 'width': 1.9750702247191043, 'height': 5.7584269662921415, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.92977528089887, 'y': 0, 'width': 1.3430477528089853, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 25.754915730337082, 'y': 0.1404494382022472, 'width': 1.8960674157303323, 'height': 1.544943820224719, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 20.69873595505618, 'y': 4.073033707865169, 'width': 1.1850421348314626, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 92.67029494382022, 'y': 20.926966292134832, 'width': 2.2120786516853883, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 prioritizes the view of the cliffside and commercial buildings; UAV2 highlights larger residential properties with less emphasis on boundaries; UAV3 closely captures smaller residential properties and their defined boundaries; UAV4 primarily focuses on the roadways and the nearby river.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629097589330443008-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629097589330443008-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629097589330443008-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629097589330443008-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629097589330443008-UAV5.png" } }, { "sequence_frame": "4-40m-1629097589330443008.png", "question_id": "MDMT_OP_21", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better illustrates the relative height of the rocky cliff compared to the nearby parking lot and road?", "options": { "A": "UAV1 provides a better depiction of the height difference due to its angled view across the cliff", "B": "UAV2 provides a better depiction due to its higher altitude showing a wider area", "C": "UAV3 provides the clearest depiction as it focuses more directly on the cliff height from directly above", "D": "Both UAV1 and UAV2 equally illustrate the height difference effectively" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 33.892205056179776, 'y': 95.50561797752809, 'width': 4.424157303370784, 'height': 4.49438202247191, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 85.63904494382022, 'y': 80.19662921348315, 'width': 2.4490870786516865, 'height': 4.49438202247191, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 87.29810393258427, 'y': 59.41011235955056, 'width': 1.9750702247191043, 'height': 5.7584269662921415, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.92977528089887, 'y': 0, 'width': 1.3430477528089853, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 25.754915730337082, 'y': 0.1404494382022472, 'width': 1.8960674157303323, 'height': 1.544943820224719, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 20.69873595505618, 'y': 4.073033707865169, 'width': 1.1850421348314626, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 92.67029494382022, 'y': 20.926966292134832, 'width': 2.2120786516853883, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures a view angled across the parking lot, with a clear focus on the rocky cliff's vertical drop. UAV2 takes a wider view showing surrounding housing areas and the road with less emphasis on cliff height. UAV3 emphasizes details around the cliff and nearby structures but with less visual impact of height differences.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629097589330443008-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629097589330443008-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629097589330443008-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629097589330443008-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629097589330443008-UAV5.png" } }, { "sequence_frame": "4-40m-1629101403806930688.png", "question_id": "MDMT_SD_UAV1_22", "question_type": "1.1 Scene Description (UAV1)", "question": "What type of environment does the UAV1 view predominantly capture?", "options": { "A": "A dense urban area with industrial buildings and open parking spaces", "B": "A mixed environment with residential buildings, commercial spaces, and forested areas", "C": "A rural setting with scattered homes and agricultural land", "D": "A recreational area surrounded by parks and water bodies" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 54.59094101123595, 'y': 17.134831460674157, 'width': 1.5800561797752835, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.22296348314607, 'y': 20.926966292134832, 'width': 1.501053370786515, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.98595505617977, 'y': 12.780898876404494, 'width': 1.659058988764052, 'height': 2.3876404494382033, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.72191011235955, 'y': 7.443820224719102, 'width': 1.2640449438202168, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.47471910112358, 'y': 11.235955056179774, 'width': 1.1850421348314626, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.74297752808988, 'y': 15.02808988764045, 'width': 2.4490870786516865, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.23981741573033, 'y': 32.86516853932584, 'width': 1.97507022471909, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.4624297752809, 'y': 34.69101123595505, 'width': 2.9231039325842687, 'height': 2.106741573033716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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 mixed environment with residential buildings surrounding a green courtyard, commercial spaces including parking lots, and natural features such as forested areas and rocky terrain.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629101403806930688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629101403806930688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629101403806930688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629101403806930688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629101403806930688-UAV5.png" } }, { "sequence_frame": "4-40m-1629101403806930688.png", "question_id": "MDMT_SD_UAV2_22", "question_type": "1.1 Scene Description (UAV2)", "question": "What best describes the environmental setting of this scene?", "options": { "A": "A mixed urban area with residential and multi-storey buildings", "B": "A dense industrial area with factories and warehouses", "C": "A rural countryside with scattered individual houses", "D": "A coastal neighborhood focused on waterfront views" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 54.59094101123595, 'y': 17.134831460674157, 'width': 1.5800561797752835, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.22296348314607, 'y': 20.926966292134832, 'width': 1.501053370786515, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.98595505617977, 'y': 12.780898876404494, 'width': 1.659058988764052, 'height': 2.3876404494382033, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.72191011235955, 'y': 7.443820224719102, 'width': 1.2640449438202168, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.47471910112358, 'y': 11.235955056179774, 'width': 1.1850421348314626, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.74297752808988, 'y': 15.02808988764045, 'width': 2.4490870786516865, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.23981741573033, 'y': 32.86516853932584, 'width': 1.97507022471909, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.4624297752809, 'y': 34.69101123595505, 'width': 2.9231039325842687, 'height': 2.106741573033716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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 shows a neighborhood with a mix of residential houses surrounded by trees, multi-storey apartment buildings, and a larger structure resembling a commercial or public building. Roads and intersections connect these elements, creating an urban environment with green spaces.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629101403806930688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629101403806930688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629101403806930688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629101403806930688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629101403806930688-UAV5.png" } }, { "sequence_frame": "4-40m-1629101403806930688.png", "question_id": "MDMT_SC_22", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides a clearer view of individual housing structures?", "options": { "A": "UAV1 provides the clearest view since it focuses on housing in a rectangular layout.", "B": "UAV2 provides the clearest view because it presents a circular organization of housing structures.", "C": "UAV3 offers the clearest view due to its focus on isolated residential houses near the forest and water.", "D": "UAV4 provides the clearest view by showing detailed housing structures surrounded by open terrain." }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 54.59094101123595, 'y': 17.134831460674157, 'width': 1.5800561797752835, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.22296348314607, 'y': 20.926966292134832, 'width': 1.501053370786515, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.98595505617977, 'y': 12.780898876404494, 'width': 1.659058988764052, 'height': 2.3876404494382033, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.72191011235955, 'y': 7.443820224719102, 'width': 1.2640449438202168, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.47471910112358, 'y': 11.235955056179774, 'width': 1.1850421348314626, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.74297752808988, 'y': 15.02808988764045, 'width': 2.4490870786516865, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.23981741573033, 'y': 32.86516853932584, 'width': 1.97507022471909, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.4624297752809, 'y': 34.69101123595505, 'width': 2.9231039325842687, 'height': 2.106741573033716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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": "UAV1 displays rows of buildings near an intersection; UAV2 captures housing in an organized circular formation; UAV3 highlights individual residential houses set in a forest near a river; UAV4 shows houses partially surrounded by open terrain, shadowed by cliffs.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629101403806930688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629101403806930688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629101403806930688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629101403806930688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629101403806930688-UAV5.png" } }, { "sequence_frame": "4-40m-1629101403806930688.png", "question_id": "MDMT_OP_22", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a better view of the spatial arrangement between the parking lot and residential buildings?", "options": { "A": "UAV1 provides a clearer view because of its closer angle to the parking lot", "B": "UAV2 provides a clearer view by capturing the parking lot from a centralized vantage point", "C": "UAV3 offers the best view by showing the parking lot in relation to distant houses and the lake", "D": "UAV4 provides an obstructed view with limited clarity about spatial arrangements" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 54.59094101123595, 'y': 17.134831460674157, 'width': 1.5800561797752835, 'height': 2.5280898876404514, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.22296348314607, 'y': 20.926966292134832, 'width': 1.501053370786515, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.98595505617977, 'y': 12.780898876404494, 'width': 1.659058988764052, 'height': 2.3876404494382033, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.72191011235955, 'y': 7.443820224719102, 'width': 1.2640449438202168, 'height': 2.5280898876404487, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.47471910112358, 'y': 11.235955056179774, 'width': 1.1850421348314626, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.74297752808988, 'y': 15.02808988764045, 'width': 2.4490870786516865, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.23981741573033, 'y': 32.86516853932584, 'width': 1.97507022471909, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.4624297752809, 'y': 34.69101123595505, 'width': 2.9231039325842687, 'height': 2.106741573033716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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": "UAV1 provides an angled view focusing on smaller residential areas and the parking lot, while UAV2 centralizes the parking lot with surrounding structures in clear alignment. UAV3 highlights broader spatial relationships extending towards the lake. UAV4 shifts focus away from the parking lot, emphasizing the road and nearby forest.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629101403806930688-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629101403806930688-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629101403806930688-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629101403806930688-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629101403806930688-UAV5.png" } }, { "sequence_frame": "4-40m-1629109485061830400.png", "question_id": "MDMT_SC_23", "question_type": "1.2 Scene Comparison", "question": "What is the primary difference in object density between the perspectives of UAV1 (first image) and UAV4 (fourth image)?", "options": { "A": "UAV1 shows more trees near the lower road compared to UAV4", "B": "UAV4 displays more vehicles on the central road compared to UAV1", "C": "UAV1 shows more rock formations near the corner road than UAV4", "D": "UAV4 shows more dense vegetation across the scene compared to UAV1" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.32478932584269, 'y': 0, 'width': 2.0540730337078728, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures a broad view of a forest area with sparse vehicles visible on multiple roads; UAV4 provides a focused view of the central road with higher vehicle density and fewer trees visible.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629109485061830400-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629109485061830400-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629109485061830400-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629109485061830400-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629109485061830400-UAV5.png" } }, { "sequence_frame": "4-40m-1629109485061830400.png", "question_id": "MDMT_OP_23", "question_type": "1.3 Observing Posture", "question": "How does the perspective from UAV1 differ when observing the curvature of the roads compared to the other UAVs?", "options": { "A": "UAV1 provides clearer visibility of road curvature due to its angled view of the forested area.", "B": "UAV2 offers a more focused observation of road curvature within intersections.", "C": "UAV3 captures the widest view of road curvature due to its elevated perspective over the highway and forests.", "D": "UAV4 minimizes the visibility of road curvature due to its direct overhead view." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.32478932584269, 'y': 0, 'width': 2.0540730337078728, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures an angled view of roads surrounded by forests, focusing on the curvature of near roads. Subsequent UAVs present varying levels of elevation, with UAV2 prioritizing intersections, UAV3 capturing an extended wide view, and UAV4 primarily covering overhead roads.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629109485061830400-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629109485061830400-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629109485061830400-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629109485061830400-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629109485061830400-UAV5.png" } }, { "sequence_frame": "4-40m-1629125437038686464.png", "question_id": "MDMT_SD_UAV2_24", "question_type": "1.1 Scene Description (UAV2)", "question": "What is the dominant environmental setting depicted in the scene?", "options": { "A": "A densely populated urban area with tall skyscrapers", "B": "A suburban neighborhood with rows of houses and green spaces", "C": "An agricultural area with large open fields", "D": "A waterfront industrial zone with shipping facilities" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 82.1629213483146, 'y': 34.97191011235955, 'width': 2.3700842696629394, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.41046348314606, 'y': 55.89887640449438, 'width': 2.2120786516854025, 'height': 2.949438202247187, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 92.90730337078651, 'y': 95.08426966292134, 'width': 3.7131320224719104, 'height': 4.775280898876403, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 5.925210674157303, 'y': 47.19101123595505, 'width': 2.2120786516853927, 'height': 1.5449438202247237, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 30.33707865168539, 'y': 17.275280898876407, 'width': 1.9750702247191043, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a suburban setting with rows of houses arranged in curved patterns alongside roads, surrounded by numerous trees and open green spaces. In the background, a large building and a body of water are visible.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629125437038686464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629125437038686464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629125437038686464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629125437038686464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629125437038686464-UAV5.png" } }, { "sequence_frame": "4-40m-1629125437038686464.png", "question_id": "MDMT_SC_24", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides the clearest view of the residential housing layout?", "options": { "A": "UAV1 provides the clearest view of individual houses and their proximity to trees.", "B": "UAV2 provides the clearest view of aligned housing rows and their arrangement.", "C": "UAV3 provides the clearest view due to its focus on surrounding terrain and cliffs.", "D": "UAV4 provides the clearest view because it shows houses relative to highways." }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 82.1629213483146, 'y': 34.97191011235955, 'width': 2.3700842696629394, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.41046348314606, 'y': 55.89887640449438, 'width': 2.2120786516854025, 'height': 2.949438202247187, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 92.90730337078651, 'y': 95.08426966292134, 'width': 3.7131320224719104, 'height': 4.775280898876403, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 5.925210674157303, 'y': 47.19101123595505, 'width': 2.2120786516853927, 'height': 1.5449438202247237, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 30.33707865168539, 'y': 17.275280898876407, 'width': 1.9750702247191043, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 shows a residential area with dispersed houses and surrounding greenery. UAV2 provides an organized perspective of rows of residential housing and their symmetrical layout. UAV3 focuses more on cliffs and terrain features than housing details. UAV4 emphasizes the relationship of the housing area with nearby highways and surrounding hills.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629125437038686464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629125437038686464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629125437038686464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629125437038686464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629125437038686464-UAV5.png" } }, { "sequence_frame": "4-40m-1629125437038686464.png", "question_id": "MDMT_OP_24", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better displays the spatial relationship between the residential area and the nearby cliff features?", "options": { "A": "UAV1 provides better spatial context due to its closer view of the residential area", "B": "UAV3 provides better spatial context due to its view of the residential area with the cliff in the foreground", "C": "UAV4 provides better spatial context due to its view of the road encircling the cliff", "D": "UAV5 provides better spatial context due to its view emphasizing vehicle movement over the cliff features" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 82.1629213483146, 'y': 34.97191011235955, 'width': 2.3700842696629394, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.41046348314606, 'y': 55.89887640449438, 'width': 2.2120786516854025, 'height': 2.949438202247187, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 92.90730337078651, 'y': 95.08426966292134, 'width': 3.7131320224719104, 'height': 4.775280898876403, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 5.925210674157303, 'y': 47.19101123595505, 'width': 2.2120786516853927, 'height': 1.5449438202247237, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 30.33707865168539, 'y': 17.275280898876407, 'width': 1.9750702247191043, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 captures an overhead view of houses near a road but does not show the cliff clearly; UAV3 provides a view that highlights how the residential area is adjacent to the cliff features. UAV4 focuses on the road surrounding the cliff, while UAV5 emphasizes highway traffic near the cliff.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629125437038686464-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629125437038686464-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629125437038686464-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629125437038686464-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629125437038686464-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_SD_UAV1_25", "question_type": "1.1 Scene Description (UAV1)", "question": "What is the main relationship between vehicles and the intersection in this scene?", "options": { "A": "Vehicles are freely moving through the intersection without any crossings", "B": "Vehicles are stopped at the intersection, interacting with pedestrians", "C": "Vehicles are evenly distributed and crossing the intersection smoothly", "D": "Vehicles are congested near the intersection, causing traffic delays" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.0877808988764, 'y': 22.6123595505618, 'width': 0.9480337078651644, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.48068820224718, 'y': 22.47191011235956, 'width': 1.343047752808997, 'height': 2.6685393258426977, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.58672752808989, 'y': 27.52808988764045, 'width': 0.7900280898876346, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.69066011235955, 'y': 27.808988764044944, 'width': 0.5530196629213435, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 27.52808988764045, 'width': 0.7110252808988733, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.76966292134831, 'y': 32.162921348314605, 'width': 1.1060393258426942, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 35.1123595505618, 'width': 0.7900280898876346, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.611657303370784, 'y': 37.640449438202246, 'width': 1.264044943820224, 'height': 1.68539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.11060393258427, 'y': 21.910112359550563, 'width': 0.9480337078651644, 'height': 1.6853932584269629, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.29564606741573, 'y': 21.06741573033708, 'width': 0.9480337078651644, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.58672752808989, 'y': 19.101123595505616, 'width': 0.7900280898876346, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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 a multi-lane intersection surrounded by trees and terrain features. Vehicles are actively crossing the intersection in an organized, smooth manner. There is no visible congestion or pedestrian activity.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_SD_UAV2_25", "question_type": "1.1 Scene Description (UAV2)", "question": "What is the relationship between the forested area and the surrounding roads in this scene?", "options": { "A": "The forested area is directly adjacent to a single road without any intersections.", "B": "The forested area is surrounded by multiple roads forming a loop.", "C": "The forested area is scattered between distant and disconnected roads.", "D": "The forested area is isolated with no roads nearby." }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.0877808988764, 'y': 22.6123595505618, 'width': 0.9480337078651644, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.48068820224718, 'y': 22.47191011235956, 'width': 1.343047752808997, 'height': 2.6685393258426977, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.58672752808989, 'y': 27.52808988764045, 'width': 0.7900280898876346, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.69066011235955, 'y': 27.808988764044944, 'width': 0.5530196629213435, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 27.52808988764045, 'width': 0.7110252808988733, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.76966292134831, 'y': 32.162921348314605, 'width': 1.1060393258426942, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 35.1123595505618, 'width': 0.7900280898876346, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.611657303370784, 'y': 37.640449438202246, 'width': 1.264044943820224, 'height': 1.68539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.11060393258427, 'y': 21.910112359550563, 'width': 0.9480337078651644, 'height': 1.6853932584269629, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.29564606741573, 'y': 21.06741573033708, 'width': 0.9480337078651644, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.58672752808989, 'y': 19.101123595505616, 'width': 0.7900280898876346, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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 shows a central forested area surrounded by roads that form a loop. A main highway is situated nearby, with visible traffic flow and additional residential and urban infrastructure in the background.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_SC_25", "question_type": "1.2 Scene Comparison", "question": "How does the visibility of the forested area differ between the UAV1 perspective and the subsequent UAV perspectives?", "options": { "A": "UAV1 provides the clearest view of the forest layout, while the other UAVs show more occlusion by terrain features", "B": "UAV2 and subsequent UAVs provide clearer views of the forest layout than UAV1", "C": "Both UAV1 and subsequent UAVs show an equally clear view of the forested area", "D": "None of the UAV perspectives provide a clear view of the forest layout" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.0877808988764, 'y': 22.6123595505618, 'width': 0.9480337078651644, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.48068820224718, 'y': 22.47191011235956, 'width': 1.343047752808997, 'height': 2.6685393258426977, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.58672752808989, 'y': 27.52808988764045, 'width': 0.7900280898876346, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.69066011235955, 'y': 27.808988764044944, 'width': 0.5530196629213435, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 27.52808988764045, 'width': 0.7110252808988733, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.76966292134831, 'y': 32.162921348314605, 'width': 1.1060393258426942, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 35.1123595505618, 'width': 0.7900280898876346, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.611657303370784, 'y': 37.640449438202246, 'width': 1.264044943820224, 'height': 1.68539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.11060393258427, 'y': 21.910112359550563, 'width': 0.9480337078651644, 'height': 1.6853932584269629, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.29564606741573, 'y': 21.06741573033708, 'width': 0.9480337078651644, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.58672752808989, 'y': 19.101123595505616, 'width': 0.7900280898876346, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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": "UAV1 shows a broad view of the forested area adjacent to a large intersection and road network, providing clear visibility of the tree layout; whereas UAV2 through UAV5 feature angles where terrain such as cliffs partially obscures sections of the forest.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629187328497839616.png", "question_id": "MDMT_OP_25", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides the most comprehensive view of the relationship between the highway and the surrounding terrain features?", "options": { "A": "UAV1 provides the clearest view of both the highway and the immediate terrain due to its central positioning.", "B": "UAV2 offers a broader view of the highway's curvature alongside the terrain features on both sides.", "C": "UAV3 captures the best alignment of the highway with the nearby residential and commercial areas.", "D": "UAV4 isolates the relationship between the rocky formations and the surrounding terrain, providing a focused view." }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.0877808988764, 'y': 22.6123595505618, 'width': 0.9480337078651644, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.48068820224718, 'y': 22.47191011235956, 'width': 1.343047752808997, 'height': 2.6685393258426977, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.58672752808989, 'y': 27.52808988764045, 'width': 0.7900280898876346, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.69066011235955, 'y': 27.808988764044944, 'width': 0.5530196629213435, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 27.52808988764045, 'width': 0.7110252808988733, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.76966292134831, 'y': 32.162921348314605, 'width': 1.1060393258426942, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 35.1123595505618, 'width': 0.7900280898876346, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.611657303370784, 'y': 37.640449438202246, 'width': 1.264044943820224, 'height': 1.68539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.11060393258427, 'y': 21.910112359550563, 'width': 0.9480337078651644, 'height': 1.6853932584269629, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 46.29564606741573, 'y': 21.06741573033708, 'width': 0.9480337078651644, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.58672752808989, 'y': 19.101123595505616, 'width': 0.7900280898876346, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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": "UAV1 shows an overhead view centered on a major highway intersection surrounded by rocky terrain and forest. Subsequent images from UAV2, UAV3, and UAV4 progressively move higher and capture different angles of the terrain, adjacent residential areas, and the curvature of the highway.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629187328497839616-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629187328497839616-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629187328497839616-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629187328497839616-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629187328497839616-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_SC_26", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides the clearest view of the number of vehicles parked in the parking lot near the building complex?", "options": { "A": "UAV1, due to its diagonal view highlighting vehicle positions", "B": "UAV2, as its lower altitude offers detailed visibility of parked vehicles", "C": "UAV3, from its centered overhead angle allowing a full view of the lot", "D": "UAV5, as it shows the ground-level vehicle interactions close to the parking lot" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 90.3002106741573, 'y': 49.29775280898877, 'width': 2.2120786516853883, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.27949438202246, 'y': 31.03932584269663, 'width': 1.7205056179775369, 'height': 2.387640449438198, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 provides a diagonal perspective of the area with fewer vehicle details visible in the parking lot; UAV2 gives a closer angle but partial coverage; UAV3 presents a direct overhead view entirely capturing the parking lot layout; UAV5 focuses primarily on the lake-side area, leaving lot details unclear.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629200928358985984.png", "question_id": "MDMT_OP_26", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides the clearest view of the layout and accessibility of the parking area near the large beige building?", "options": { "A": "UAV1 provides the clearest view due to its closer proximity to the parking area", "B": "UAV2 provides the clearest view due to its slightly angled position", "C": "UAV3 provides the clearest view due to its wider perspective of the entire parking area", "D": "UAV4 provides the clearest view due to its focus on the road connectivity near the parking area" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 90.3002106741573, 'y': 49.29775280898877, 'width': 2.2120786516853883, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.27949438202246, 'y': 31.03932584269663, 'width': 1.7205056179775369, 'height': 2.387640449438198, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures an angled view primarily showing the residential area with partial visibility of the parking; UAV2 shifts focus towards the parking near the beige building with slightly less overlap; UAV3 provides a comprehensive view of the entire parking layout and surrounding roads; UAV4 highlights connectivity with the main road and nearby water body.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629200928358985984-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629200928358985984-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629200928358985984-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629200928358985984-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629200928358985984-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_SD_UAV2_27", "question_type": "1.1 Scene Description (UAV2)", "question": "What movement pattern is most likely occurring near the curved residential roads in this scene?", "options": { "A": "Vehicles are actively moving along the curves of the roads", "B": "Vehicles are stationary, parked outside the houses", "C": "Vehicles are moving in straight lines away from residential roads", "D": "No vehicles are present near the residential roads" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 56.88202247191011, 'y': 8.98876404494382, 'width': 1.4220505617977466, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.40800561797753, 'y': 16.01123595505618, 'width': 0.9480337078651573, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.22717696629213, 'y': 25, 'width': 1.3430477528089924, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 64.46629213483146, 'y': 25, 'width': 2.2120786516853883, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.38939606741573, 'y': 25.56179775280899, 'width': 1.6590589887640448, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.69698033707865, 'y': 2.6685393258426964, 'width': 1.1060393258427013, 'height': 1.5449438202247197, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.961025280898866, 'y': 1.8258426966292134, 'width': 1.027036516853947, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.59094101123595, 'y': 1.8258426966292134, 'width': 0.9480337078651715, 'height': 1.4044943820224722, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.34796348314606, 'y': 0.8426966292134831, 'width': 1.6590589887640448, 'height': 1.5449438202247188, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 86.27106741573033, 'y': 0.8426966292134831, 'width': 1.9750702247191043, 'height': 1.2640449438202248, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 89.82619382022472, 'y': 1.544943820224719, 'width': 1.106039325842687, 'height': 1.1235955056179774, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.32935393258427, 'y': 4.073033707865169, 'width': 0.7900280898876417, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.48525280898876, 'y': 2.247191011235955, 'width': 2.0540730337078656, 'height': 1.685393258426966, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.30442415730337, 'y': 3.51123595505618, 'width': 0.8690308988764031, 'height': 0.8426966292134832, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 95.27738764044943, 'y': 3.7921348314606744, 'width': 0.7900280898876417, 'height': 0.9831460674157295, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.38342696629213, 'y': 5.337078651685393, 'width': 1.4220505617977466, 'height': 1.6853932584269673, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.12148876404494, 'y': 5.617977528089887, 'width': 0.9480337078651644, 'height': 1.2640449438202257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2, 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 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 residential area with curved roads lined by houses. Vehicles appear mostly stationary, likely parked outside the houses. Trees are interspersed throughout the area, and a larger roadway runs parallel to the river in the background.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_SD_UAV4_27", "question_type": "1.1 Scene Description (UAV4)", "question": "What is the dominant vehicle movement pattern observed in this scene?", "options": { "A": "Vehicles are moving in both directions on two parallel lanes", "B": "Vehicles are stationary, suggesting traffic congestion", "C": "Vehicles are moving in one direction along a curved highway", "D": "Vehicles are parked along the side of the road" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 56.88202247191011, 'y': 8.98876404494382, 'width': 1.4220505617977466, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.40800561797753, 'y': 16.01123595505618, 'width': 0.9480337078651573, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.22717696629213, 'y': 25, 'width': 1.3430477528089924, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 64.46629213483146, 'y': 25, 'width': 2.2120786516853883, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.38939606741573, 'y': 25.56179775280899, 'width': 1.6590589887640448, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.69698033707865, 'y': 2.6685393258426964, 'width': 1.1060393258427013, 'height': 1.5449438202247197, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.961025280898866, 'y': 1.8258426966292134, 'width': 1.027036516853947, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.59094101123595, 'y': 1.8258426966292134, 'width': 0.9480337078651715, 'height': 1.4044943820224722, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.34796348314606, 'y': 0.8426966292134831, 'width': 1.6590589887640448, 'height': 1.5449438202247188, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 86.27106741573033, 'y': 0.8426966292134831, 'width': 1.9750702247191043, 'height': 1.2640449438202248, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 89.82619382022472, 'y': 1.544943820224719, 'width': 1.106039325842687, 'height': 1.1235955056179774, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.32935393258427, 'y': 4.073033707865169, 'width': 0.7900280898876417, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.48525280898876, 'y': 2.247191011235955, 'width': 2.0540730337078656, 'height': 1.685393258426966, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.30442415730337, 'y': 3.51123595505618, 'width': 0.8690308988764031, 'height': 0.8426966292134832, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 95.27738764044943, 'y': 3.7921348314606744, 'width': 0.7900280898876417, 'height': 0.9831460674157295, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.38342696629213, 'y': 5.337078651685393, 'width': 1.4220505617977466, 'height': 1.6853932584269673, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.12148876404494, 'y': 5.617977528089887, 'width': 0.9480337078651644, 'height': 1.2640449438202257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2, 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 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 curved multi-lane highway beside a lake, with vehicles primarily moving in one direction. Surrounding the highway are residential buildings, small fences, and clusters of trees.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_SD_UAV5_27", "question_type": "1.1 Scene Description (UAV5)", "question": "What is the observable movement pattern of vehicles in this scene?", "options": { "A": "Vehicles are moving smoothly along a multi-lane road in both directions", "B": "Vehicles are stationary near a traffic jam on the road", "C": "Vehicles are aligned diagonally across the road with irregular movement", "D": "Vehicles are parked near the forested area, exhibiting no movement" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 56.88202247191011, 'y': 8.98876404494382, 'width': 1.4220505617977466, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.40800561797753, 'y': 16.01123595505618, 'width': 0.9480337078651573, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.22717696629213, 'y': 25, 'width': 1.3430477528089924, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 64.46629213483146, 'y': 25, 'width': 2.2120786516853883, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.38939606741573, 'y': 25.56179775280899, 'width': 1.6590589887640448, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.69698033707865, 'y': 2.6685393258426964, 'width': 1.1060393258427013, 'height': 1.5449438202247197, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.961025280898866, 'y': 1.8258426966292134, 'width': 1.027036516853947, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.59094101123595, 'y': 1.8258426966292134, 'width': 0.9480337078651715, 'height': 1.4044943820224722, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.34796348314606, 'y': 0.8426966292134831, 'width': 1.6590589887640448, 'height': 1.5449438202247188, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 86.27106741573033, 'y': 0.8426966292134831, 'width': 1.9750702247191043, 'height': 1.2640449438202248, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 89.82619382022472, 'y': 1.544943820224719, 'width': 1.106039325842687, 'height': 1.1235955056179774, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.32935393258427, 'y': 4.073033707865169, 'width': 0.7900280898876417, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.48525280898876, 'y': 2.247191011235955, 'width': 2.0540730337078656, 'height': 1.685393258426966, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.30442415730337, 'y': 3.51123595505618, 'width': 0.8690308988764031, 'height': 0.8426966292134832, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 95.27738764044943, 'y': 3.7921348314606744, 'width': 0.7900280898876417, 'height': 0.9831460674157295, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.38342696629213, 'y': 5.337078651685393, 'width': 1.4220505617977466, 'height': 1.6853932584269673, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.12148876404494, 'y': 5.617977528089887, 'width': 0.9480337078651644, 'height': 1.2640449438202257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2, 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 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 multi-lane road with vehicles moving both ways. Adjacent to the road is a forested area leading to a rocky waterfront and a river. The left side has residential structures situated near the road curves.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_SC_27", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective shows a more detailed view of the houses in the residential area?", "options": { "A": "UAV1 provides the most detailed view due to its angle", "B": "UAV2 provides the most detailed view of the houses within the residential area", "C": "Both UAV1 and UAV2 offer equally detailed views of the houses", "D": "Neither UAV1 nor UAV2 shows detailed views of the residential area" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 56.88202247191011, 'y': 8.98876404494382, 'width': 1.4220505617977466, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.40800561797753, 'y': 16.01123595505618, 'width': 0.9480337078651573, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.22717696629213, 'y': 25, 'width': 1.3430477528089924, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 64.46629213483146, 'y': 25, 'width': 2.2120786516853883, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.38939606741573, 'y': 25.56179775280899, 'width': 1.6590589887640448, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.69698033707865, 'y': 2.6685393258426964, 'width': 1.1060393258427013, 'height': 1.5449438202247197, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.961025280898866, 'y': 1.8258426966292134, 'width': 1.027036516853947, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.59094101123595, 'y': 1.8258426966292134, 'width': 0.9480337078651715, 'height': 1.4044943820224722, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.34796348314606, 'y': 0.8426966292134831, 'width': 1.6590589887640448, 'height': 1.5449438202247188, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 86.27106741573033, 'y': 0.8426966292134831, 'width': 1.9750702247191043, 'height': 1.2640449438202248, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 89.82619382022472, 'y': 1.544943820224719, 'width': 1.106039325842687, 'height': 1.1235955056179774, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.32935393258427, 'y': 4.073033707865169, 'width': 0.7900280898876417, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.48525280898876, 'y': 2.247191011235955, 'width': 2.0540730337078656, 'height': 1.685393258426966, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.30442415730337, 'y': 3.51123595505618, 'width': 0.8690308988764031, 'height': 0.8426966292134832, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 95.27738764044943, 'y': 3.7921348314606744, 'width': 0.7900280898876417, 'height': 0.9831460674157295, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.38342696629213, 'y': 5.337078651685393, 'width': 1.4220505617977466, 'height': 1.6853932584269673, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.12148876404494, 'y': 5.617977528089887, 'width': 0.9480337078651644, 'height': 1.2640449438202257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2, 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 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 broader view of the landscape, including houses in the distance, while UAV2 focuses more on the residential area, showcasing houses and their layout in greater detail.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629201000237519360.png", "question_id": "MDMT_OP_27", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer view of the spatial relationship between the curved neighborhood road and the forested cliff area?", "options": { "A": "UAV1 provides a clearer view due to its focus on the forested cliff and adjacent road", "B": "UAV2 provides a clearer view due to its wider angle covering the neighborhood layout", "C": "UAV3 provides the best view due to its framing of the cliff and highway above it", "D": "UAV4 provides the best view due to its focus on the river's proximity to the cliff" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 56.88202247191011, 'y': 8.98876404494382, 'width': 1.4220505617977466, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.40800561797753, 'y': 16.01123595505618, 'width': 0.9480337078651573, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.22717696629213, 'y': 25, 'width': 1.3430477528089924, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 64.46629213483146, 'y': 25, 'width': 2.2120786516853883, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.38939606741573, 'y': 25.56179775280899, 'width': 1.6590589887640448, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.69698033707865, 'y': 2.6685393258426964, 'width': 1.1060393258427013, 'height': 1.5449438202247197, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 56.961025280898866, 'y': 1.8258426966292134, 'width': 1.027036516853947, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 54.59094101123595, 'y': 1.8258426966292134, 'width': 0.9480337078651715, 'height': 1.4044943820224722, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.34796348314606, 'y': 0.8426966292134831, 'width': 1.6590589887640448, 'height': 1.5449438202247188, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 86.27106741573033, 'y': 0.8426966292134831, 'width': 1.9750702247191043, 'height': 1.2640449438202248, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 89.82619382022472, 'y': 1.544943820224719, 'width': 1.106039325842687, 'height': 1.1235955056179774, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 94.32935393258427, 'y': 4.073033707865169, 'width': 0.7900280898876417, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.48525280898876, 'y': 2.247191011235955, 'width': 2.0540730337078656, 'height': 1.685393258426966, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.30442415730337, 'y': 3.51123595505618, 'width': 0.8690308988764031, 'height': 0.8426966292134832, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 95.27738764044943, 'y': 3.7921348314606744, 'width': 0.7900280898876417, 'height': 0.9831460674157295, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 96.38342696629213, 'y': 5.337078651685393, 'width': 1.4220505617977466, 'height': 1.6853932584269673, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.12148876404494, 'y': 5.617977528089887, 'width': 0.9480337078651644, 'height': 1.2640449438202257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2, 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 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 focused view of a forested cliff near a road. Subsequent UAVs capture increasingly wide angles, revealing the curved neighborhood road, highway, and river. UAV2 highlights the circular neighborhood and its surroundings, while UAV3 and UAV4 emphasize the river and highway.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629201000237519360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629201000237519360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629201000237519360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629201000237519360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629201000237519360-UAV5.png" } }, { "sequence_frame": "4-40m-1629204982295740416.png", "question_id": "MDMT_SD_UAV1_28", "question_type": "1.1 Scene Description (UAV1)", "question": "Which of the following most accurately describes the environmental setting in this scene?", "options": { "A": "A commercial area adjacent to a highway and surrounded by grassy terrain", "B": "A rural landscape with isolated buildings and sparse vehicle traffic", "C": "An industrial zone with large facilities and heavy vehicle congestion", "D": "A dense urban area with skyscrapers and crowded pedestrian crossings" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.64080056179775, 'y': 11.51685393258427, 'width': 1.1060393258427013, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.1127106741573, 'y': 14.04494382022472, 'width': 0.9480337078651715, 'height': 0.9831460674157295, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.87570224719101, 'y': 15.44943820224719, 'width': 1.3430477528089924, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 52.77387640449438, 'y': 12.07865168539326, 'width': 1.3430477528089924, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.53897471910112, 'y': 10.393258426966293, 'width': 0.9480337078651715, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 58.62008426966292, 'y': 11.235955056179774, 'width': 1.264044943820224, 'height': 1.8258426966292163, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3061797752809, 'y': 15.168539325842698, 'width': 0.6320224719101049, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The image depicts a commercial area near a highway with ongoing vehicle traffic. This area includes structures such as a parking lot, a small house surrounded by grassy terrain, and a gas station. There are scattered trees across the terrain, and the location borders a large water body visible in the top part of the image.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629204982295740416-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629204982295740416-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629204982295740416-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629204982295740416-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629204982295740416-UAV5.png" } }, { "sequence_frame": "4-40m-1629204982295740416.png", "question_id": "MDMT_SC_28", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides better visibility of the parking lot relative to surrounding structures?", "options": { "A": "UAV1 provides a clear view of the parking lot and surrounding roads", "B": "UAV2 provides visibility of the parking lot with more emphasis on its proximity to warehouses", "C": "UAV3 focuses entirely on the road, with no view of the parking lot", "D": "UAV5 shows the parking lot partially blocked by terrain features" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.64080056179775, 'y': 11.51685393258427, 'width': 1.1060393258427013, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.1127106741573, 'y': 14.04494382022472, 'width': 0.9480337078651715, 'height': 0.9831460674157295, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.87570224719101, 'y': 15.44943820224719, 'width': 1.3430477528089924, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 52.77387640449438, 'y': 12.07865168539326, 'width': 1.3430477528089924, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.53897471910112, 'y': 10.393258426966293, 'width': 0.9480337078651715, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 58.62008426966292, 'y': 11.235955056179774, 'width': 1.264044943820224, 'height': 1.8258426966292163, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3061797752809, 'y': 15.168539325842698, 'width': 0.6320224719101049, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a wide view of the parking lot surrounded by roads, buildings, and a small grassy area. UAV2 captures the parking lot from a higher angle, providing clearer details about its adjacency to white warehouse structures. UAV3 primarily shows the highway and river, with no parking lot visible. UAV5 includes terrain features that obscure parts of the parking lot.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629204982295740416-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629204982295740416-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629204982295740416-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629204982295740416-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629204982295740416-UAV5.png" } }, { "sequence_frame": "4-40m-1629204982295740416.png", "question_id": "MDMT_OP_28", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective is most suitable for examining the spatial layout of the parking area and nearby structures?", "options": { "A": "UAV1 provides the best view due to its perspective showing multiple parking sections and surrounding buildings", "B": "UAV2 provides a better view due to its lower angle focusing on the parking area", "C": "UAV3 is better as it provides a top-down view of the parking area with limited building details", "D": "UAV4 is most suitable as it captures the parking layout along with the nearby hillside structures" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 50.64080056179775, 'y': 11.51685393258427, 'width': 1.1060393258427013, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.1127106741573, 'y': 14.04494382022472, 'width': 0.9480337078651715, 'height': 0.9831460674157295, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 47.87570224719101, 'y': 15.44943820224719, 'width': 1.3430477528089924, 'height': 1.1235955056179776, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 52.77387640449438, 'y': 12.07865168539326, 'width': 1.3430477528089924, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 55.53897471910112, 'y': 10.393258426966293, 'width': 0.9480337078651715, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 58.62008426966292, 'y': 11.235955056179774, 'width': 1.264044943820224, 'height': 1.8258426966292163, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3061797752809, 'y': 15.168539325842698, 'width': 0.6320224719101049, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 captures a wide-angle view showing the parking lot, buildings, and surrounding areas including the cliffs. UAV2 emphasizes the parking area closely. UAV3 and UAV4 focus more on specific areas, like the road and terrain, with less inclusion of the entire structure layout.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629204982295740416-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629204982295740416-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629204982295740416-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629204982295740416-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629204982295740416-UAV5.png" } }, { "sequence_frame": "4-40m-1629210769328715776.png", "question_id": "MDMT_SC_29", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective shows the largest concentration of residential houses?", "options": { "A": "UAV1 provides the clearest view of clustered residential houses near the curved road.", "B": "UAV2 clearly shows a larger concentration of residential houses distributed across the central and right-hand areas of the image.", "C": "UAV3 shows the largest concentration of residential houses closest to the cliff edge and scattered uniformly.", "D": "UAV4 focuses on the rocky terrain and trees, where residential houses are not prominently visible." }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 86.1130617977528, 'y': 68.25842696629213, 'width': 2.0540730337078656, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 shows a neatly clustered set of residential houses near the curved road surrounded by trees, while UAV2 provides an expanded view of multiple residential areas across the image; UAV3 incorporates some houses near the cliff edge, and UAV4 highlights primarily rocky terrain and trees with little emphasis on houses.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629210769328715776-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629210769328715776-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629210769328715776-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629210769328715776-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629210769328715776-UAV5.png" } }, { "sequence_frame": "4-40m-1629210769328715776.png", "question_id": "MDMT_OP_29", "question_type": "1.3 Observing Posture", "question": "Considering the relative positioning and perspective, which UAV image provides a clearer view of the curvature of the residential area roads?", "options": { "A": "UAV1 provides a clearer view due to its direct focus on the curve near the river", "B": "UAV2 provides a clearer view due to its central positioning over the residential area", "C": "UAV3 provides a clearer view due to its broader perspective covering multiple curves", "D": "UAV4 provides a clearer view due to its high distance capturing the overall terrain" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 86.1130617977528, 'y': 68.25842696629213, 'width': 2.0540730337078656, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 shows a close-up view of the residential area near the river with emphasis on initial curves; UAV2 is centrally positioned over the residential section with direct visibility of road layouts; UAV3 offers a wider perspective integrating multiple roads and curves, while UAV4 presents a higher, terrain-focused view including surrounding features.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629210769328715776-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629210769328715776-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629210769328715776-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629210769328715776-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629210769328715776-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_SD_UAV1_30", "question_type": "1.1 Scene Description (UAV1)", "question": "What is the observed movement pattern of vehicles at the intersection in this scene?", "options": { "A": "Vehicles are moving freely in all directions at the intersection", "B": "Vehicles are stationary, queued near the intersection", "C": "Vehicles are parked along the roadside, with no movement", "D": "Vehicles are turning into a side road, avoiding the intersection" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), 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': 84.84901685393258, 'y': 9.831460674157304, 'width': 1.6590589887640448, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.63483146067415, 'y': 4.073033707865169, 'width': 1.1060393258427013, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.55582865168539, 'y': 6.601123595505618, 'width': 1.1060393258427013, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 88.87816011235955, 'y': 1.6853932584269662, 'width': 1.501053370786508, 'height': 2.668539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.50596910112358, 'y': 10.393258426966293, 'width': 1.1060393258427013, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.1692415730337, 'y': 17.275280898876407, 'width': 1.3430477528089853, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.01123595505618, 'y': 22.191011235955056, 'width': 1.1850421348314626, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.01544943820224, 'y': 26.40449438202247, 'width': 1.896067415730343, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 scene depicts a multi-lane road intersecting with another road, surrounded by natural terrain and trees. Vehicles are stationary near the intersection, forming queues. The environment includes rock formations and green areas.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_SD_UAV2_30", "question_type": "1.1 Scene Description (UAV2)", "question": "What is the primary movement pattern of vehicles in the bottom-left section of this scene?", "options": { "A": "Vehicles moving in a curved path leading to the forest area", "B": "Vehicles are stationary with no visible movement", "C": "Vehicles moving directly onto the bridge via a straight path", "D": "Vehicles reversing toward the rocky terrain from the road" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), 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': 84.84901685393258, 'y': 9.831460674157304, 'width': 1.6590589887640448, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.63483146067415, 'y': 4.073033707865169, 'width': 1.1060393258427013, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.55582865168539, 'y': 6.601123595505618, 'width': 1.1060393258427013, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 88.87816011235955, 'y': 1.6853932584269662, 'width': 1.501053370786508, 'height': 2.668539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.50596910112358, 'y': 10.393258426966293, 'width': 1.1060393258427013, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.1692415730337, 'y': 17.275280898876407, 'width': 1.3430477528089853, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.01123595505618, 'y': 22.191011235955056, 'width': 1.1850421348314626, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.01544943820224, 'y': 26.40449438202247, 'width': 1.896067415730343, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 scene depicts a multi-lane road with vehicles moving in various directions. The bottom-left section shows vehicles following a curved path toward a forest area. The bridge in the center has vehicles crossing in both directions. Surrounding the roads are forested areas and rocky terrain.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_SD_UAV3_30", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the predominant movement pattern of vehicles observed in this scene?", "options": { "A": "Vehicles moving smoothly in both directions along the main highway", "B": "Vehicles primarily stationary at intersections while waiting", "C": "Vehicles turning off the main road into side paths with significant congestion", "D": "Vehicles moving in a single direction along a narrow rural road" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), 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': 84.84901685393258, 'y': 9.831460674157304, 'width': 1.6590589887640448, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.63483146067415, 'y': 4.073033707865169, 'width': 1.1060393258427013, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.55582865168539, 'y': 6.601123595505618, 'width': 1.1060393258427013, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 88.87816011235955, 'y': 1.6853932584269662, 'width': 1.501053370786508, 'height': 2.668539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.50596910112358, 'y': 10.393258426966293, 'width': 1.1060393258427013, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.1692415730337, 'y': 17.275280898876407, 'width': 1.3430477528089853, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.01123595505618, 'y': 22.191011235955056, 'width': 1.1850421348314626, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.01544943820224, 'y': 26.40449438202247, 'width': 1.896067415730343, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 aerial image shows a multi-lane highway flanked by dense vegetation and rocky terrain. Vehicles are moving smoothly in both directions along the highway. Some vehicles are entering side paths, but minimal congestion is visible. The environment includes trees, rocks, and a water body on the right side of the image.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_SD_UAV4_30", "question_type": "1.1 Scene Description (UAV4)", "question": "What can be inferred about the movement patterns of vehicles in this scene?", "options": { "A": "Vehicles are stationary and parked along the road", "B": "Vehicles are moving in opposite directions on multi-lane roads", "C": "Vehicles are completely absent from this scene", "D": "Vehicles are driving in a single-file lane along a narrow road" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), 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': 84.84901685393258, 'y': 9.831460674157304, 'width': 1.6590589887640448, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.63483146067415, 'y': 4.073033707865169, 'width': 1.1060393258427013, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.55582865168539, 'y': 6.601123595505618, 'width': 1.1060393258427013, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 88.87816011235955, 'y': 1.6853932584269662, 'width': 1.501053370786508, 'height': 2.668539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.50596910112358, 'y': 10.393258426966293, 'width': 1.1060393258427013, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.1692415730337, 'y': 17.275280898876407, 'width': 1.3430477528089853, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.01123595505618, 'y': 22.191011235955056, 'width': 1.1850421348314626, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.01544943820224, 'y': 26.40449438202247, 'width': 1.896067415730343, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 scene depicts a landscape with multi-lane roads where vehicles are visible moving in opposite directions. It also includes a grassy area with trees, rocky terrain, and a body of water towards the upper right.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_SC_30", "question_type": "1.2 Scene Comparison", "question": "How does the distribution of vehicles at the intersection compare across the UAV perspectives?", "options": { "A": "UAV1 shows fewer vehicles clustered near the intersection compared to UAV2", "B": "UAV2 shows more vehicles scattered evenly around the intersection compared to UAV1", "C": "UAV2 shows fewer vehicles concentrated near the intersection than UAV1", "D": "Both UAV1 and UAV2 show the same number and distribution of vehicles at the intersection" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), 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': 84.84901685393258, 'y': 9.831460674157304, 'width': 1.6590589887640448, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.63483146067415, 'y': 4.073033707865169, 'width': 1.1060393258427013, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.55582865168539, 'y': 6.601123595505618, 'width': 1.1060393258427013, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 88.87816011235955, 'y': 1.6853932584269662, 'width': 1.501053370786508, 'height': 2.668539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.50596910112358, 'y': 10.393258426966293, 'width': 1.1060393258427013, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.1692415730337, 'y': 17.275280898876407, 'width': 1.3430477528089853, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.01123595505618, 'y': 22.191011235955056, 'width': 1.1850421348314626, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.01544943820224, 'y': 26.40449438202247, 'width': 1.896067415730343, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "UAV1 highlights a high concentration of vehicles at the intersection with clear clusters near key points. UAV2 provides an overhead perspective showing fewer vehicles, with more distributed lanes visible and less crowding around the intersection itself.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629211736846056704.png", "question_id": "MDMT_OP_30", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better highlights the direction of vehicle movement relative to the intersection?", "options": { "A": "UAV1 highlights vehicle directions clearly because it provides a diagonal view of the intersection.", "B": "UAV3 highlights vehicle directions clearly due to its centered alignment with the roads.", "C": "UAV2 highlights vehicle directions more effectively by capturing motion along the length of major roads.", "D": "UAV4 provides the clearest view of vehicle movement by capturing the intersection from a wider angle." }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), 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': 84.84901685393258, 'y': 9.831460674157304, 'width': 1.6590589887640448, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.63483146067415, 'y': 4.073033707865169, 'width': 1.1060393258427013, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.55582865168539, 'y': 6.601123595505618, 'width': 1.1060393258427013, 'height': 1.6853932584269664, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 88.87816011235955, 'y': 1.6853932584269662, 'width': 1.501053370786508, 'height': 2.668539325842697, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.50596910112358, 'y': 10.393258426966293, 'width': 1.1060393258427013, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.1692415730337, 'y': 17.275280898876407, 'width': 1.3430477528089853, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 91.01123595505618, 'y': 22.191011235955056, 'width': 1.1850421348314626, 'height': 2.247191011235955, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 97.01544943820224, 'y': 26.40449438202247, 'width': 1.896067415730343, 'height': 2.808988764044944, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "UAV1 provides a diagonal view of the intersection showing vehicles approaching from multiple sides. UAV2 offers a closer view along major road stretches, while UAV3 centers its perspective at the intersection. UAV4 takes a broader approach, encompassing a wide-angle view of the scene including the landscape and major roads.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629211736846056704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629211736846056704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629211736846056704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629211736846056704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629211736846056704-UAV5.png" } }, { "sequence_frame": "4-40m-1629218507914019328.png", "question_id": "MDMT_SD_UAV3_31", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the relationship between the vehicles and the road environment in this scene?", "options": { "A": "Vehicles are parked along the road edges, with wide space between lanes", "B": "Vehicles are moving in dense traffic along a curved multi-lane road", "C": "Vehicles are scattered on the road without following lanes", "D": "Vehicles are stationary on a single-lane road surrounded tightly by buildings" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 40.60744382022472, 'y': 11.095505617977528, 'width': 1.1060393258427013, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 11.51685393258427, 'width': 1.501053370786508, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.04579893440832, 'y': 7.690164496519157, 'width': 1.2932557561800877, 'height': 1.4270408344056174, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.11607956021252, 'y': 6.500963801181143, 'width': 1.2040657040297447, 'height': 1.1892006953380134, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.00798008171604, 'y': 5.073922966775527, 'width': 1.2040657040297305, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 51.47961594219683, 'y': 5.708163337622468, 'width': 1.2486607301049233, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.94447562929473, 'y': 6.976644079316349, 'width': 1.5162308865559595, 'height': 0.9513605562704113, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.21882195912868, 'y': 4.201842456860983, 'width': 1.0702806258042088, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 57.232374305894474, 'y': 3.7261621787257773, 'width': 1.3824458083304307, 'height': 0.7928004635586761, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3797117308858, 'y': 4.201842456860983, 'width': 1.248660730104909, 'height': 1.6648809734732195, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 62.98513266959211, 'y': 2.854081668811234, 'width': 1.7392060169318526, 'height': 1.347760788049749, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.9284043905537, 'y': 4.043282364149247, 'width': 1.2040657040297447, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.35544522495931, 'y': 2.933361715167101, 'width': 1.2040657040297447, 'height': 1.347760788049749, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.03114678946984, 'y': 2.774801622455366, 'width': 1.4270408344056307, 'height': 1.8234410661849556, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.8474096055888, 'y': 3.7261621787257773, 'width': 0.9810905736538729, 'height': 0.7135204172028078, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.38932609187381, 'y': 3.7261621787257773, 'width': 1.0256855997290444, 'height': 0.8720805099145443, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.89878080504687, 'y': 4.915362874063792, 'width': 1.4716358604808022, 'height': 0.7928004635586756, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.56770619617451, 'y': 6.500963801181143, 'width': 1.5608259126311452, 'height': 0.9513605562704113, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.88664755208363, 'y': 4.915362874063792, 'width': 1.2486607301049304, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 80.6893580214368, 'y': 3.4090419933023073, 'width': 1.5162308865559595, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 81.0461182300382, 'y': 5.470323198554865, 'width': 1.4270408344056165, 'height': 1.1892006953380134, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 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 curved and multi-lane road beside a waterfront, with vehicles moving in traffic. Surrounding the area are scattered trees and rocky terrain.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629218507914019328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629218507914019328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629218507914019328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629218507914019328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629218507914019328-UAV5.png" } }, { "sequence_frame": "4-40m-1629218507914019328.png", "question_id": "MDMT_SC_31", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides a clearer view of the church's surroundings?", "options": { "A": "UAV1 provides a clearer view of the church's surroundings, as it shows the neighboring buildings and roads better", "B": "UAV2 provides a clearer view of the church's surroundings, as it includes a nearby parking lot and open space", "C": "UAV3 provides the clearest view of the church's surroundings, showing nearby trees and the path leading to the church", "D": "None of the UAV perspectives shows the church's surroundings clearly" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 40.60744382022472, 'y': 11.095505617977528, 'width': 1.1060393258427013, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 11.51685393258427, 'width': 1.501053370786508, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.04579893440832, 'y': 7.690164496519157, 'width': 1.2932557561800877, 'height': 1.4270408344056174, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.11607956021252, 'y': 6.500963801181143, 'width': 1.2040657040297447, 'height': 1.1892006953380134, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.00798008171604, 'y': 5.073922966775527, 'width': 1.2040657040297305, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 51.47961594219683, 'y': 5.708163337622468, 'width': 1.2486607301049233, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.94447562929473, 'y': 6.976644079316349, 'width': 1.5162308865559595, 'height': 0.9513605562704113, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.21882195912868, 'y': 4.201842456860983, 'width': 1.0702806258042088, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 57.232374305894474, 'y': 3.7261621787257773, 'width': 1.3824458083304307, 'height': 0.7928004635586761, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3797117308858, 'y': 4.201842456860983, 'width': 1.248660730104909, 'height': 1.6648809734732195, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 62.98513266959211, 'y': 2.854081668811234, 'width': 1.7392060169318526, 'height': 1.347760788049749, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.9284043905537, 'y': 4.043282364149247, 'width': 1.2040657040297447, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.35544522495931, 'y': 2.933361715167101, 'width': 1.2040657040297447, 'height': 1.347760788049749, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.03114678946984, 'y': 2.774801622455366, 'width': 1.4270408344056307, 'height': 1.8234410661849556, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.8474096055888, 'y': 3.7261621787257773, 'width': 0.9810905736538729, 'height': 0.7135204172028078, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.38932609187381, 'y': 3.7261621787257773, 'width': 1.0256855997290444, 'height': 0.8720805099145443, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.89878080504687, 'y': 4.915362874063792, 'width': 1.4716358604808022, 'height': 0.7928004635586756, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.56770619617451, 'y': 6.500963801181143, 'width': 1.5608259126311452, 'height': 0.9513605562704113, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.88664755208363, 'y': 4.915362874063792, 'width': 1.2486607301049304, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 80.6893580214368, 'y': 3.4090419933023073, 'width': 1.5162308865559595, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 81.0461182300382, 'y': 5.470323198554865, 'width': 1.4270408344056165, 'height': 1.1892006953380134, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV1 provides an angled view of the area with the church partially visible amid dense trees and nearby urban structures; UAV2 offers a more direct view of the church with a clearer layout of its surroundings, including the parking lot and open space.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629218507914019328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629218507914019328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629218507914019328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629218507914019328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629218507914019328-UAV5.png" } }, { "sequence_frame": "4-40m-1629218507914019328.png", "question_id": "MDMT_OP_31", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer understanding of the spatial layout of the apartment complex relative to nearby roads?", "options": { "A": "UAV1 provides a clearer view due to its broader angle showing surrounding areas.", "B": "UAV2 provides a clearer view due to its close focus directly above the apartment complex.", "C": "Both UAVs equally reveal the spatial layout of the apartment complex and nearby roads.", "D": "Neither UAV provides a clear understanding of the spatial layout." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 40.60744382022472, 'y': 11.095505617977528, 'width': 1.1060393258427013, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 45.42661516853933, 'y': 11.51685393258427, 'width': 1.501053370786508, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 48.04579893440832, 'y': 7.690164496519157, 'width': 1.2932557561800877, 'height': 1.4270408344056174, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 49.11607956021252, 'y': 6.500963801181143, 'width': 1.2040657040297447, 'height': 1.1892006953380134, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.00798008171604, 'y': 5.073922966775527, 'width': 1.2040657040297305, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 51.47961594219683, 'y': 5.708163337622468, 'width': 1.2486607301049233, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.94447562929473, 'y': 6.976644079316349, 'width': 1.5162308865559595, 'height': 0.9513605562704113, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.21882195912868, 'y': 4.201842456860983, 'width': 1.0702806258042088, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 57.232374305894474, 'y': 3.7261621787257773, 'width': 1.3824458083304307, 'height': 0.7928004635586761, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.3797117308858, 'y': 4.201842456860983, 'width': 1.248660730104909, 'height': 1.6648809734732195, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 62.98513266959211, 'y': 2.854081668811234, 'width': 1.7392060169318526, 'height': 1.347760788049749, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.9284043905537, 'y': 4.043282364149247, 'width': 1.2040657040297447, 'height': 1.2684807416938817, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.35544522495931, 'y': 2.933361715167101, 'width': 1.2040657040297447, 'height': 1.347760788049749, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.03114678946984, 'y': 2.774801622455366, 'width': 1.4270408344056307, 'height': 1.8234410661849556, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.8474096055888, 'y': 3.7261621787257773, 'width': 0.9810905736538729, 'height': 0.7135204172028078, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.38932609187381, 'y': 3.7261621787257773, 'width': 1.0256855997290444, 'height': 0.8720805099145443, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.89878080504687, 'y': 4.915362874063792, 'width': 1.4716358604808022, 'height': 0.7928004635586756, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.56770619617451, 'y': 6.500963801181143, 'width': 1.5608259126311452, 'height': 0.9513605562704113, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 79.88664755208363, 'y': 4.915362874063792, 'width': 1.2486607301049304, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 80.6893580214368, 'y': 3.4090419933023073, 'width': 1.5162308865559595, 'height': 0.9513605562704104, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 81.0461182300382, 'y': 5.470323198554865, 'width': 1.4270408344056165, 'height': 1.1892006953380134, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV1 shows a wide view encompassing the apartment complex, surrounding residential homes, and nearby roads; UAV2 focuses closer on the apartment complex but limits visibility of surrounding roads.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629218507914019328-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629218507914019328-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629218507914019328-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629218507914019328-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629218507914019328-UAV5.png" } }, { "sequence_frame": "4-40m-1629223716469174016.png", "question_id": "MDMT_SD_UAV4_32", "question_type": "1.1 Scene Description (UAV4)", "question": "What is the spatial relationship between the curved road and the rocky cliff in this scene?", "options": { "A": "The curved road runs parallel to the rocky cliff and is separated by dense trees.", "B": "The curved road intersects directly with the rocky cliff, forming a junction.", "C": "The curved road circles around the rocky cliff with no trees in between.", "D": "The curved road is located far from the rocky cliff and does not interact spatially." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 64.54529494382022, 'y': 8.98876404494382, 'width': 1.1060393258427013, 'height': 2.2471910112359534, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 78.29178370786516, 'y': 2.6685393258426964, 'width': 0.6320224719101191, 'height': 1.4044943820224725, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.79073033707866, 'y': 0.9831460674157303, 'width': 0.7900280898876275, 'height': 1.4044943820224716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.42275280898876, 'y': 2.387640449438202, 'width': 0.47401685393259646, 'height': 1.9662921348314613, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.2377106741573, 'y': 10.955056179775282, 'width': 0.8690308988764173, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.65765449438202, 'y': 14.185393258426968, 'width': 0.7900280898876417, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.31460674157303, 'y': 15.589887640449437, 'width': 1.0270365168539257, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 71.26053370786516, 'y': 22.331460674157302, 'width': 1.1850421348314626, 'height': 1.8258426966292163, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 72.91959269662921, 'y': 23.174157303370787, 'width': 1.1850421348314626, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.49964887640449, 'y': 26.825842696629216, 'width': 1.1850421348314626, 'height': 2.106741573033702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.1566011235955, 'y': 25.842696629213485, 'width': 1.02703651685394, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.70751404494382, 'y': 25.140449438202246, 'width': 0.8690308988764031, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.03195224719101, 'y': 14.185393258426968, 'width': 1.2640449438202097, 'height': 2.2471910112359534, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2, 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 target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "The scene showcases a landscape with a curved road running closely alongside a rocky cliff, bordered by dense trees. Nearby, a suburban area with houses and buildings is visible, along with a multi-lane highway in the background.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629223716469174016-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629223716469174016-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629223716469174016-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629223716469174016-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629223716469174016-UAV5.png" } }, { "sequence_frame": "4-40m-1629223716469174016.png", "question_id": "MDMT_SC_32", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides the clearest view of the parking area adjacent to the highway?", "options": { "A": "UAV1 shows the parking area with clearer details of individual vehicles.", "B": "UAV2 provides a clearer view of the parking area layout but fewer vehicle details.", "C": "UAV3 offers the clearest and most comprehensive view of the parking area and its surroundings.", "D": "UAV4 does not show the parking area at all due to occlusion by terrain." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 64.54529494382022, 'y': 8.98876404494382, 'width': 1.1060393258427013, 'height': 2.2471910112359534, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 78.29178370786516, 'y': 2.6685393258426964, 'width': 0.6320224719101191, 'height': 1.4044943820224725, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.79073033707866, 'y': 0.9831460674157303, 'width': 0.7900280898876275, 'height': 1.4044943820224716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.42275280898876, 'y': 2.387640449438202, 'width': 0.47401685393259646, 'height': 1.9662921348314613, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.2377106741573, 'y': 10.955056179775282, 'width': 0.8690308988764173, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.65765449438202, 'y': 14.185393258426968, 'width': 0.7900280898876417, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.31460674157303, 'y': 15.589887640449437, 'width': 1.0270365168539257, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 71.26053370786516, 'y': 22.331460674157302, 'width': 1.1850421348314626, 'height': 1.8258426966292163, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 72.91959269662921, 'y': 23.174157303370787, 'width': 1.1850421348314626, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.49964887640449, 'y': 26.825842696629216, 'width': 1.1850421348314626, 'height': 2.106741573033702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.1566011235955, 'y': 25.842696629213485, 'width': 1.02703651685394, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.70751404494382, 'y': 25.140449438202246, 'width': 0.8690308988764031, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.03195224719101, 'y': 14.185393258426968, 'width': 1.2640449438202097, 'height': 2.2471910112359534, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2, 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 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 detailed view of the parking area adjacent to the highway, with individual parked vehicles clearly visible. UAV2 captures the parking area from a slightly higher perspective, offering better spatial layout but less detail. UAV3 focuses more on road curves and general surroundings, leaving the parking area partially obscured. UAV4 shifts entirely to the rocky terrain and residential area with the parking area excluded.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629223716469174016-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629223716469174016-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629223716469174016-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629223716469174016-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629223716469174016-UAV5.png" } }, { "sequence_frame": "4-40m-1629223716469174016.png", "question_id": "MDMT_OP_32", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a better view of the parking lot layout and vehicle positions in the scene?", "options": { "A": "UAV1 provides a clearer view due to its proximity to the parking lot", "B": "UAV2 provides a clearer view due to its higher altitude and wider field of view", "C": "Both UAV perspectives provide equally detailed layouts of the parking lot", "D": "Neither UAV perspective provides enough detail to assess the parking lot layout" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 64.54529494382022, 'y': 8.98876404494382, 'width': 1.1060393258427013, 'height': 2.2471910112359534, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 78.29178370786516, 'y': 2.6685393258426964, 'width': 0.6320224719101191, 'height': 1.4044943820224725, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.79073033707866, 'y': 0.9831460674157303, 'width': 0.7900280898876275, 'height': 1.4044943820224716, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 77.42275280898876, 'y': 2.387640449438202, 'width': 0.47401685393259646, 'height': 1.9662921348314613, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.2377106741573, 'y': 10.955056179775282, 'width': 0.8690308988764173, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.65765449438202, 'y': 14.185393258426968, 'width': 0.7900280898876417, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.31460674157303, 'y': 15.589887640449437, 'width': 1.0270365168539257, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 71.26053370786516, 'y': 22.331460674157302, 'width': 1.1850421348314626, 'height': 1.8258426966292163, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 72.91959269662921, 'y': 23.174157303370787, 'width': 1.1850421348314626, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 74.49964887640449, 'y': 26.825842696629216, 'width': 1.1850421348314626, 'height': 2.106741573033702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.1566011235955, 'y': 25.842696629213485, 'width': 1.02703651685394, 'height': 2.1067415730337054, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.70751404494382, 'y': 25.140449438202246, 'width': 0.8690308988764031, 'height': 2.528089887640448, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 83.03195224719101, 'y': 14.185393258426968, 'width': 1.2640449438202097, 'height': 2.2471910112359534, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2, 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 target appears too small or distant in the current image, but is larger and more visible in the other persepctive.", "image_description": "UAV1 (first image) shows a closer view of the parking lot with individual vehicle positions clearly visible; subsequent UAV images progressively move farther away, showing a broader scene with less focus on the parking lot.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/4-40m-1629223716469174016-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/4-40m-1629223716469174016-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/4-40m-1629223716469174016-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/4-40m-1629223716469174016-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/4-40m-1629223716469174016-UAV5.png" } }, { "sequence_frame": "6-40m-1628230839454745344.png", "question_id": "MDMT_SD_UAV1_33", "question_type": "1.1 Scene Description (UAV1)", "question": "How are the residential and urban areas spatially arranged in this scene?", "options": { "A": "Residential buildings are located to the left of the road, while urban buildings are central and to the right", "B": "Urban buildings are aligned with the road on both sides, while residential buildings are scattered in the background", "C": "Residential buildings are in the foreground, and urban buildings are behind them with no clear alignment", "D": "Urban buildings are in the center of the image, surrounded by residential buildings on all sides" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 74.97366573033707, 'y': 24.15730337078652, 'width': 1.5800561797752835, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.31460674157303, 'y': 23.595505617977526, 'width': 1.3430477528089853, 'height': 3.5112359550561827, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene shows urban buildings centrally located and to the right of a curved road, with smaller residential houses positioned to the left. The layout has distinct clusters separated by the road, with green lawns and trees interspersed throughout.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628230839454745344-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628230839454745344-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628230839454745344-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628230839454745344-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628230839454745344-UAV5.png" } }, { "sequence_frame": "6-40m-1628230839454745344.png", "question_id": "MDMT_SC_33", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides better visibility of the large white monument surrounded by trees?", "options": { "A": "UAV1 provides a clear view of the monument and its surroundings", "B": "UAV2 provides a direct top-down view, making the monument more visible", "C": "UAV3 includes the best view, showing the monument from an unobstructed angle", "D": "None of the UAV perspectives provides a clear view of the monument" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 74.97366573033707, 'y': 24.15730337078652, 'width': 1.5800561797752835, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.31460674157303, 'y': 23.595505617977526, 'width': 1.3430477528089853, 'height': 3.5112359550561827, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures an angled view with a focus on nearby buildings and road traffic. UAV2 provides a top-down view of multiple buildings and streets but shows the monument indirectly. UAV3 displays the large white monument prominently with trees and nearby structures visible in detail, unobstructed by other elements in the scene.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628230839454745344-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628230839454745344-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628230839454745344-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628230839454745344-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628230839454745344-UAV5.png" } }, { "sequence_frame": "6-40m-1628230839454745344.png", "question_id": "MDMT_OP_33", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer view of the spatial relationship between the road and the buildings beside it?", "options": { "A": "UAV1 provides a clearer view due to its diagonal angle emphasizing the road curve and nearby buildings", "B": "UAV3 provides better clarity due to its focused view of the road and parallel building arrangement", "C": "UAV4 gives the most detailed view due to its focus on the surrounding landscape and isolated buildings", "D": "UAV5 provides the clearest view due to its emphasis on open space and road isolation" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 74.97366573033707, 'y': 24.15730337078652, 'width': 1.5800561797752835, 'height': 2.8089887640449405, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 73.31460674157303, 'y': 23.595505617977526, 'width': 1.3430477528089853, 'height': 3.5112359550561827, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures a diagonal angle showcasing the curved road surrounded by buildings and vegetation. UAV3 highlights the parallel rows of buildings alongside the road. UAV4 emphasizes the broader landscape and road configurations near isolated structures. UAV5 focuses on open grasslands and partial road visibility.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628230839454745344-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628230839454745344-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628230839454745344-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628230839454745344-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628230839454745344-UAV5.png" } }, { "sequence_frame": "6-40m-1628248254973832704.png", "question_id": "MDMT_SD_UAV2_34", "question_type": "1.1 Scene Description (UAV2)", "question": "What type of setting is depicted in the image based on the layout of the buildings, roads, and vegetation?", "options": { "A": "A densely packed suburban neighborhood with medium-sized buildings and scattered vegetation", "B": "A rural area with vast open fields and sparse buildings", "C": "An urban area featuring a mix of tall skyscrapers, structured roads, and patches of greenery", "D": "An industrial zone with factories and warehouses surrounded by roads" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 63.36025280898876, 'y': 11.938202247191011, 'width': 1.1060393258427013, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.33532303370787, 'y': 10.955056179775282, 'width': 1.3430477528089853, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.36025280898876, 'y': 8.98876404494382, 'width': 1.0270365168539257, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 8.426966292134832, 'width': 1.3430477528089853, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.70540730337078, 'y': 8.98876404494382, 'width': 0.9480337078651786, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.89044943820224, 'y': 6.03932584269663, 'width': 0.7900280898876559, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 7.02247191011236, 'width': 0.8690308988764031, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 6.460674157303371, 'width': 0.9480337078651644, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.02141853932584, 'y': 4.915730337078652, 'width': 0.9480337078651786, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.59936797752809, 'y': 3.089887640449438, 'width': 1.2640449438202381, 'height': 2.1067415730337076, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The scene shows a structured urban area with a mix of tall buildings, including a cylindrical skyscraper and multi-tiered structures, wide roads, and patches of greenery and trees separating the buildings and roads.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628248254973832704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628248254973832704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628248254973832704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628248254973832704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628248254973832704-UAV5.png" } }, { "sequence_frame": "6-40m-1628248254973832704.png", "question_id": "MDMT_SD_UAV3_34", "question_type": "1.1 Scene Description (UAV3)", "question": "What type of environment is depicted in this UAV3 image based on its features?", "options": { "A": "A rural area with agricultural fields and sparse infrastructure", "B": "An urban area with organized roads and diverse building layouts", "C": "A coastal area with waterfront housing and docks", "D": "A forested environment with dense vegetation and minimal roads" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 63.36025280898876, 'y': 11.938202247191011, 'width': 1.1060393258427013, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.33532303370787, 'y': 10.955056179775282, 'width': 1.3430477528089853, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.36025280898876, 'y': 8.98876404494382, 'width': 1.0270365168539257, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 8.426966292134832, 'width': 1.3430477528089853, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.70540730337078, 'y': 8.98876404494382, 'width': 0.9480337078651786, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.89044943820224, 'y': 6.03932584269663, 'width': 0.7900280898876559, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 7.02247191011236, 'width': 0.8690308988764031, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 6.460674157303371, 'width': 0.9480337078651644, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.02141853932584, 'y': 4.915730337078652, 'width': 0.9480337078651786, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.59936797752809, 'y': 3.089887640449438, 'width': 1.2640449438202381, 'height': 2.1067415730337076, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The scene shows an urban environment with multi-lane roads, high-rise buildings, and surrounding trees. The layout includes organized infrastructure such as intersections and a variety of building designs, indicating a city-like setting.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628248254973832704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628248254973832704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628248254973832704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628248254973832704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628248254973832704-UAV5.png" } }, { "sequence_frame": "6-40m-1628248254973832704.png", "question_id": "MDMT_SD_UAV5_34", "question_type": "1.1 Scene Description (UAV5)", "question": "Which environmental feature best describes the scene captured by UAV5?", "options": { "A": "A suburban area with open lawns and mid-rise residential buildings", "B": "A rural area with expansive agricultural fields", "C": "A dense urban area with skyscrapers and no green space", "D": "A heavily forested area with no visible structures" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 63.36025280898876, 'y': 11.938202247191011, 'width': 1.1060393258427013, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.33532303370787, 'y': 10.955056179775282, 'width': 1.3430477528089853, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.36025280898876, 'y': 8.98876404494382, 'width': 1.0270365168539257, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 8.426966292134832, 'width': 1.3430477528089853, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.70540730337078, 'y': 8.98876404494382, 'width': 0.9480337078651786, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.89044943820224, 'y': 6.03932584269663, 'width': 0.7900280898876559, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 7.02247191011236, 'width': 0.8690308988764031, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 6.460674157303371, 'width': 0.9480337078651644, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.02141853932584, 'y': 4.915730337078652, 'width': 0.9480337078651786, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.59936797752809, 'y': 3.089887640449438, 'width': 1.2640449438202381, 'height': 2.1067415730337076, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The scene shows a mix of mid-rise residential buildings and smaller homes arranged near open lawn areas. Shadows from the buildings are cast on the ground, suggesting a suburban environment with a blend of man-made and green elements.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628248254973832704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628248254973832704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628248254973832704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628248254973832704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628248254973832704-UAV5.png" } }, { "sequence_frame": "6-40m-1628248254973832704.png", "question_id": "MDMT_SC_34", "question_type": "1.2 Scene Comparison", "question": "How does the location and density of buildings differ between UAV1 and UAV5?", "options": { "A": "UAV1 shows a dense arrangement of buildings, while UAV5 shows sparsely scattered buildings near an open field.", "B": "UAV1 shows no buildings, while UAV5 shows a dense arrangement near the road.", "C": "Both UAV1 and UAV5 show buildings concentrated near wide roads with no open field in view.", "D": "UAV1 shows all buildings near an open field, while UAV5 shows buildings surrounding a wooded area." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 63.36025280898876, 'y': 11.938202247191011, 'width': 1.1060393258427013, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.33532303370787, 'y': 10.955056179775282, 'width': 1.3430477528089853, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.36025280898876, 'y': 8.98876404494382, 'width': 1.0270365168539257, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 8.426966292134832, 'width': 1.3430477528089853, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.70540730337078, 'y': 8.98876404494382, 'width': 0.9480337078651786, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.89044943820224, 'y': 6.03932584269663, 'width': 0.7900280898876559, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 7.02247191011236, 'width': 0.8690308988764031, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 6.460674157303371, 'width': 0.9480337078651644, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.02141853932584, 'y': 4.915730337078652, 'width': 0.9480337078651786, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.59936797752809, 'y': 3.089887640449438, 'width': 1.2640449438202381, 'height': 2.1067415730337076, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 captures a densely packed urban area with multiple high-rise buildings and vehicles along roads. UAV5, in contrast, shows fewer buildings scattered near large open grassland areas, with visible shadows from the nearby structures.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628248254973832704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628248254973832704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628248254973832704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628248254973832704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628248254973832704-UAV5.png" } }, { "sequence_frame": "6-40m-1628248254973832704.png", "question_id": "MDMT_OP_34", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a clearer understanding of the spatial arrangement of buildings relative to the road structures?", "options": { "A": "UAV1 provides a clearer view due to its higher vantage point showing multiple buildings along the road", "B": "UAV2 provides a clearer view due to its lateral angle emphasizing road curvature", "C": "UAV3 provides a clearer view due to its close proximity to individual buildings", "D": "UAV4 provides a clearer view due to its focus on the alignment of smaller residential units with the road" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 63.36025280898876, 'y': 11.938202247191011, 'width': 1.1060393258427013, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.33532303370787, 'y': 10.955056179775282, 'width': 1.3430477528089853, 'height': 1.4044943820224702, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 63.36025280898876, 'y': 8.98876404494382, 'width': 1.0270365168539257, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 8.426966292134832, 'width': 1.3430477528089853, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.70540730337078, 'y': 8.98876404494382, 'width': 0.9480337078651786, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.89044943820224, 'y': 6.03932584269663, 'width': 0.7900280898876559, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 7.02247191011236, 'width': 0.8690308988764031, 'height': 1.404494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.2563202247191, 'y': 6.460674157303371, 'width': 0.9480337078651644, 'height': 1.5449438202247183, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 68.02141853932584, 'y': 4.915730337078652, 'width': 0.9480337078651786, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.59936797752809, 'y': 3.089887640449438, 'width': 1.2640449438202381, 'height': 2.1067415730337076, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows an overhead view of the urban landscape with buildings aligned along two main roads, emphasizing spatial relationships. Subsequent UAV images progressively feature varying angles, such as side perspectives and closer views of specific structures, reducing the scope of spatial arrangement clarity.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628248254973832704-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628248254973832704-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628248254973832704-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628248254973832704-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628248254973832704-UAV5.png" } }, { "sequence_frame": "6-40m-1628409917747699200.png", "question_id": "MDMT_SD_UAV1_35", "question_type": "1.1 Scene Description (UAV1)", "question": "How are the buildings and trees arranged relative to the multi-lane road in this scene?", "options": { "A": "Buildings are arranged on both sides of the road, separated by dense tree clusters", "B": "Buildings and trees are only found on one side of the road", "C": "Buildings are adjacent to the road on both sides, with scattered trees between them", "D": "Buildings are distant from the road, with a dense forest area in between" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 72.20856741573033, 'y': 26.264044943820224, 'width': 1.7380617977528061, 'height': 2.8089887640449476, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.31671348314606, 'y': 30.61797752808989, 'width': 2.370084269662925, 'height': 3.0898876404494366, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.93820224719101, 'y': 9.831460674157304, 'width': 1.1850421348314626, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The image shows a multi-lane road with buildings adjacent to both sides. Trees are placed intermittently between the buildings and along the road, creating a structured urban layout.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628409917747699200-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628409917747699200-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628409917747699200-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628409917747699200-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628409917747699200-UAV5.png" } }, { "sequence_frame": "6-40m-1628409917747699200.png", "question_id": "MDMT_SD_UAV5_35", "question_type": "1.1 Scene Description (UAV5)", "question": "What is the spatial arrangement of the buildings relative to the main road in this scene?", "options": { "A": "Buildings are grouped on the right side of the road, forming a dense cluster", "B": "Buildings are aligned along both sides of the road with scattered placements", "C": "Buildings are exclusively on the left side of the road and spaced apart", "D": "Buildings are located far from the road without direct alignment" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 72.20856741573033, 'y': 26.264044943820224, 'width': 1.7380617977528061, 'height': 2.8089887640449476, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.31671348314606, 'y': 30.61797752808989, 'width': 2.370084269662925, 'height': 3.0898876404494366, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.93820224719101, 'y': 9.831460674157304, 'width': 1.1850421348314626, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene shows a main road running through a landscape surrounded by grassy fields. Buildings are positioned on both sides of the road and are spaced apart. Trees and other vegetation are primarily clustered on the left side, along with urban elements such as a circular building and residential houses.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628409917747699200-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628409917747699200-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628409917747699200-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628409917747699200-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628409917747699200-UAV5.png" } }, { "sequence_frame": "6-40m-1628409917747699200.png", "question_id": "MDMT_SC_35", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides the clearest view of distinct building shapes and architectural features?", "options": { "A": "UAV1 clearly shows the rectangular buildings in a linear arrangement along the road", "B": "UAV2 provides the clearest view of the white classical building and its landmarks", "C": "UAV3 best captures the densely arranged residential blocks and their uniform structure", "D": "UAV4 emphasizes the curved road and sparse arrangement of small houses" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 72.20856741573033, 'y': 26.264044943820224, 'width': 1.7380617977528061, 'height': 2.8089887640449476, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.31671348314606, 'y': 30.61797752808989, 'width': 2.370084269662925, 'height': 3.0898876404494366, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.93820224719101, 'y': 9.831460674157304, 'width': 1.1850421348314626, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 provides a view of rectangular buildings along the main road; UAV2 prominently displays a classical white building and landmarks; UAV3 captures uniformly-arranged residential blocks; UAV4 emphasizes small individual houses near a curved road and trees.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628409917747699200-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628409917747699200-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628409917747699200-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628409917747699200-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628409917747699200-UAV5.png" } }, { "sequence_frame": "6-40m-1628409917747699200.png", "question_id": "MDMT_OP_35", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides the clearest view of the relationship between the curved road and nearby buildings?", "options": { "A": "UAV1 provides the clearest view due to its focus on the linear road section", "B": "UAV2 provides the clearest view due to its proximity to the curved section near the monument", "C": "UAV3 provides the clearest view due to its higher altitude showing surrounding buildings", "D": "UAV5 provides the clearest view due to its capture of the curved road and distant terrain" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 72.20856741573033, 'y': 26.264044943820224, 'width': 1.7380617977528061, 'height': 2.8089887640449476, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 76.31671348314606, 'y': 30.61797752808989, 'width': 2.370084269662925, 'height': 3.0898876404494366, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 61.93820224719101, 'y': 9.831460674157304, 'width': 1.1850421348314626, 'height': 1.8258426966292127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 primarily focuses on a linear road section and nearby buildings. UAV2 highlights the curved road near a white monument. UAV3 offers a higher perspective showing more of the residential blocks. UAV5 captures the curved road leading to an open terrain and distant features in a wider view.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628409917747699200-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628409917747699200-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628409917747699200-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628409917747699200-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628409917747699200-UAV5.png" } }, { "sequence_frame": "6-40m-1628410764252718848.png", "question_id": "MDMT_SD_UAV1_36", "question_type": "1.1 Scene Description (UAV1)", "question": "What best describes the environmental setting in the given scene?", "options": { "A": "A rural area with scattered houses and farmlands", "B": "An urban area with multiple buildings and organized roads", "C": "A forested region with dense vegetation and narrow pathways", "D": "A waterfront area with docks and boats" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 7.979283707865169, 'y': 0.1404494382022472, 'width': 0.948033707865167, 'height': 0.7022471910112359, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.112359550561797, 'y': 1.8258426966292134, 'width': 1.0270365168539328, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.033356741573034, 'y': 1.8258426966292134, 'width': 1.1850421348314608, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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": "The scene depicts an urban area with multi-story buildings arranged along organized roadways. The roads are flanked by trees, and structures include a mix of residential-style buildings, one circular building, and a distant arch-like monument. Multiple vehicles are visible on the roads.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628410764252718848-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628410764252718848-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628410764252718848-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628410764252718848-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628410764252718848-UAV5.png" } }, { "sequence_frame": "6-40m-1628410764252718848.png", "question_id": "MDMT_SD_UAV2_36", "question_type": "1.1 Scene Description (UAV2)", "question": "What is the primary environmental setting depicted in this scene?", "options": { "A": "A dense urban area with a mix of residential and office buildings surrounded by roads", "B": "A rural area with sparse vegetation and open fields", "C": "A commercial district with shopping centers and large parking lots", "D": "A coastal area with docks and waterfront structures" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 7.979283707865169, 'y': 0.1404494382022472, 'width': 0.948033707865167, 'height': 0.7022471910112359, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.112359550561797, 'y': 1.8258426966292134, 'width': 1.0270365168539328, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.033356741573034, 'y': 1.8258426966292134, 'width': 1.1850421348314608, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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": "The scene depicts an urban area with multiple types of buildings, including residential and institutional architecture. Roads are visible along the perimeter with vehicles and trees lining the streets. A fenced green patch and scattered trees suggest a structured development typical of city settings.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628410764252718848-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628410764252718848-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628410764252718848-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628410764252718848-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628410764252718848-UAV5.png" } }, { "sequence_frame": "6-40m-1628410764252718848.png", "question_id": "MDMT_SD_UAV5_36", "question_type": "1.1 Scene Description (UAV5)", "question": "What kind of environment does this scene predominantly represent?", "options": { "A": "A densely populated urban area with multiple tall buildings", "B": "A suburban area with medium-density housing and open green spaces", "C": "A rural area with sparse buildings surrounded by expansive fields", "D": "An industrial zone with factories and minimal vegetation" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 7.979283707865169, 'y': 0.1404494382022472, 'width': 0.948033707865167, 'height': 0.7022471910112359, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.112359550561797, 'y': 1.8258426966292134, 'width': 1.0270365168539328, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.033356741573034, 'y': 1.8258426966292134, 'width': 1.1850421348314608, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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": "The scene shows a rural area with a few small buildings aligned parallel to a road, surrounded by expansive green fields. There are vehicles traveling along the road, and there is no evidence of densely packed structures or industrial elements.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628410764252718848-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628410764252718848-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628410764252718848-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628410764252718848-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628410764252718848-UAV5.png" } }, { "sequence_frame": "6-40m-1628410764252718848.png", "question_id": "MDMT_SC_36", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective best highlights the presence of agricultural structures?", "options": { "A": "UAV1, as it prominently shows urban buildings and roads", "B": "UAV3, as it introduces the silo structures and farmhouses", "C": "UAV4, as it focuses solely on open fields without structures", "D": "UAV2, as it highlights the classical landmark and urban layout" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 7.979283707865169, 'y': 0.1404494382022472, 'width': 0.948033707865167, 'height': 0.7022471910112359, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.112359550561797, 'y': 1.8258426966292134, 'width': 1.0270365168539328, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.033356741573034, 'y': 1.8258426966292134, 'width': 1.1850421348314608, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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 showcases urban buildings, a round structure, and a monument; UAV2 emphasizes the classical landmark and surrounding urban landscape; UAV3 introduces silos and farmhouses, leading to mixed urban and agricultural view; UAV4 primarily shows farmhouses and open green fields.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628410764252718848-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628410764252718848-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628410764252718848-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628410764252718848-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628410764252718848-UAV5.png" } }, { "sequence_frame": "6-40m-1628410764252718848.png", "question_id": "MDMT_OP_36", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better highlights the spatial relationship between the circular building and the main road?", "options": { "A": "UAV1 provides a clearer view due to its higher angle and proximity to the circular building", "B": "UAV2 provides a clearer view due to its focus on the main road and the surrounding structures", "C": "Both UAV perspectives equally highlight the spatial relationship", "D": "Neither UAV perspective adequately shows the relationship between the circular building and the road" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 7.979283707865169, 'y': 0.1404494382022472, 'width': 0.948033707865167, 'height': 0.7022471910112359, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.112359550561797, 'y': 1.8258426966292134, 'width': 1.0270365168539328, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 10.033356741573034, 'y': 1.8258426966292134, 'width': 1.1850421348314608, 'height': 1.6853932584269666, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV4; 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 captures a high-angle view emphasizing the circular building and its direct connection to the main road, while subsequent UAVs show different angles focusing on other buildings and spaces further away from the road.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628410764252718848-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628410764252718848-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628410764252718848-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628410764252718848-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628410764252718848-UAV5.png" } }, { "sequence_frame": "6-40m-1628412222245574656.png", "question_id": "MDMT_SD_UAV2_37", "question_type": "1.1 Scene Description (UAV2)", "question": "How are the buildings arranged relative to the road in this scene?", "options": { "A": "Tall and varied buildings are clustered on one side of the road", "B": "Buildings are evenly distributed on both sides of the road", "C": "The buildings are scattered far from the road", "D": "The road passes through a heavily wooded area with no buildings" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 80.89887640449437, 'y': 97.3314606741573, 'width': 3.00210674157303, 'height': 2.3876404494382086, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.925561797752806, 'y': 46.62921348314607, 'width': 2.370084269662925, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.12921348314607, 'y': 49.43820224719101, 'width': 2.4490870786516865, 'height': 3.6516853932584326, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 42.81952247191011, 'y': 48.735955056179776, 'width': 3.397120786516851, 'height': 3.5112359550561862, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.1688904494382, 'y': 96.48876404494382, 'width': 3.397120786516851, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.51650280898876, 'y': 55.89887640449438, 'width': 1.4834971910112387, 'height': 6.320224719101127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a variety of buildings, including a cylindrical skyscraper, a tiered building, and a stone monument, all clustered on one side of a curved road. Nearby trees and grass fields are visible, along with residential structures further from the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412222245574656-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412222245574656-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412222245574656-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412222245574656-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412222245574656-UAV5.png" } }, { "sequence_frame": "6-40m-1628412222245574656.png", "question_id": "MDMT_SD_UAV4_37", "question_type": "1.1 Scene Description (UAV4)", "question": "What is the layout of the roads and their relation to adjacent structures in this scene?", "options": { "A": "Two parallel roads are surrounded entirely by dense residential buildings", "B": "Multiple roads run through the area, bordered by a mix of residential and commercial buildings", "C": "A single road divides a park area from a group of warehouses", "D": "The roads form a circular layout around tall skyscrapers only" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 80.89887640449437, 'y': 97.3314606741573, 'width': 3.00210674157303, 'height': 2.3876404494382086, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.925561797752806, 'y': 46.62921348314607, 'width': 2.370084269662925, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.12921348314607, 'y': 49.43820224719101, 'width': 2.4490870786516865, 'height': 3.6516853932584326, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 42.81952247191011, 'y': 48.735955056179776, 'width': 3.397120786516851, 'height': 3.5112359550561862, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.1688904494382, 'y': 96.48876404494382, 'width': 3.397120786516851, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.51650280898876, 'y': 55.89887640449438, 'width': 1.4834971910112387, 'height': 6.320224719101127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a layout with multiple roads, bordered by green spaces, multi-story commercial buildings, residential units, and lighter traffic. The view includes parked and moving vehicles as well as trees interspersed between structures.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412222245574656-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412222245574656-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412222245574656-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412222245574656-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412222245574656-UAV5.png" } }, { "sequence_frame": "6-40m-1628412222245574656.png", "question_id": "MDMT_SD_UAV5_37", "question_type": "1.1 Scene Description (UAV5)", "question": "How are the buildings arranged relative to the open grassy field in this scene?", "options": { "A": "The buildings are on both sides of the grassy field", "B": "The buildings are aligned along one side of the grassy field", "C": "The buildings are scattered throughout the grassy field", "D": "The buildings surround the grassy field completely" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 80.89887640449437, 'y': 97.3314606741573, 'width': 3.00210674157303, 'height': 2.3876404494382086, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.925561797752806, 'y': 46.62921348314607, 'width': 2.370084269662925, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.12921348314607, 'y': 49.43820224719101, 'width': 2.4490870786516865, 'height': 3.6516853932584326, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 42.81952247191011, 'y': 48.735955056179776, 'width': 3.397120786516851, 'height': 3.5112359550561862, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.1688904494382, 'y': 96.48876404494382, 'width': 3.397120786516851, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.51650280898876, 'y': 55.89887640449438, 'width': 1.4834971910112387, 'height': 6.320224719101127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 shows a large open grassy field bordered on one side by rows of residential buildings. Behind the buildings, there is a road and additional infrastructure, including taller structures and trees.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412222245574656-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412222245574656-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412222245574656-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412222245574656-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412222245574656-UAV5.png" } }, { "sequence_frame": "6-40m-1628412222245574656.png", "question_id": "MDMT_SC_37", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides the clearest visibility of the curved road and surrounding vegetation?", "options": { "A": "UAV1 shows the curved road but obscures surrounding vegetation", "B": "UAV2 highlights the curved road and provides a clear view of surrounding trees", "C": "UAV3 gives no visibility of the curved road but focuses on nearby buildings", "D": "UAV4 provides visibility of the curved road but shows fewer details of vegetation" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 80.89887640449437, 'y': 97.3314606741573, 'width': 3.00210674157303, 'height': 2.3876404494382086, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.925561797752806, 'y': 46.62921348314607, 'width': 2.370084269662925, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.12921348314607, 'y': 49.43820224719101, 'width': 2.4490870786516865, 'height': 3.6516853932584326, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 42.81952247191011, 'y': 48.735955056179776, 'width': 3.397120786516851, 'height': 3.5112359550561862, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.1688904494382, 'y': 96.48876404494382, 'width': 3.397120786516851, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.51650280898876, 'y': 55.89887640449438, 'width': 1.4834971910112387, 'height': 6.320224719101127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "The UAV1 perspective emphasizes tall residential buildings and vertical layout with limited details of the curved road. UAV2 provides a wider view including the curved road and precise details of surrounding trees. UAV3 focuses primarily on office buildings and excludes road details. UAV4 captures suburban buildings and the curved road but shows fewer environmental details like vegetation compared to UAV2.", "missing_models": -9, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412222245574656-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412222245574656-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412222245574656-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412222245574656-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412222245574656-UAV5.png" } }, { "sequence_frame": "6-40m-1628412222245574656.png", "question_id": "MDMT_OP_37", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better highlights the spatial distribution of the tall cylindrical building relative to surrounding structures?", "options": { "A": "UAV1 provides better clarity as it centers the cylindrical building among nearby structures", "B": "UAV2 offers improved visibility of the building’s alignment due to the ground proximity", "C": "UAV3 enhances spatial perception by showing the cylindrical building with clearer road intersections", "D": "UAV4 focuses on distant elements, reducing the emphasis on the cylindrical building’s distribution" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 80.89887640449437, 'y': 97.3314606741573, 'width': 3.00210674157303, 'height': 2.3876404494382086, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.925561797752806, 'y': 46.62921348314607, 'width': 2.370084269662925, 'height': 2.3876404494382015, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 34.12921348314607, 'y': 49.43820224719101, 'width': 2.4490870786516865, 'height': 3.6516853932584326, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 42.81952247191011, 'y': 48.735955056179776, 'width': 3.397120786516851, 'height': 3.5112359550561862, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 53.1688904494382, 'y': 96.48876404494382, 'width': 3.397120786516851, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.51650280898876, 'y': 55.89887640449438, 'width': 1.4834971910112387, 'height': 6.320224719101127, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: None; Collaboration reasons: Current image misses the target due to out-of-view, but other views may capture it.", "image_description": "UAV1 shows a mixed residential view with the cylindrical skyscraper slightly in the background; UAV2 emphasizes nearby roads and geometric structures; UAV3 focuses on clear road intersections and tall structures centrally; UAV4 captures distant layouts without emphasizing the cylindrical landmark.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412222245574656-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412222245574656-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412222245574656-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412222245574656-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412222245574656-UAV5.png" } }, { "sequence_frame": "6-40m-1628412914992445440.png", "question_id": "MDMT_SD_UAV3_38", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the primary activity observed on the multi-lane road in the scene?", "options": { "A": "Vehicles are moving in opposite directions on two separate lanes", "B": "Vehicles are parked along the sides of the road", "C": "No vehicles are present on the road, indicating inactivity", "D": "Vehicles are moving randomly without following lane patterns" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 58.06706460674157, 'y': 20.50561797752809, 'width': 0.9480337078651715, 'height': 2.9494382022471903, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 16.573033707865168, 'width': 1.02703651685394, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 85.2440308988764, 'y': 8.426966292134832, 'width': 1.5010533707865221, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The image showcases a multi-lane urban road flanked by residential and high-rise buildings. Vehicles are actively moving in opposite directions on two separate lanes, suggesting organized traffic flow along the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412914992445440-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412914992445440-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412914992445440-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412914992445440-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412914992445440-UAV5.png" } }, { "sequence_frame": "6-40m-1628412914992445440.png", "question_id": "MDMT_SD_UAV5_38", "question_type": "1.1 Scene Description (UAV5)", "question": "What is the observed dynamic activity in the open grassy area in this scene?", "options": { "A": "High foot traffic with people walking across the grassy area", "B": "No visible activity, the grassy area is empty and static", "C": "Livestock grazing within the fenced grassy sections", "D": "Construction activity with machinery in the background" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 58.06706460674157, 'y': 20.50561797752809, 'width': 0.9480337078651715, 'height': 2.9494382022471903, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 16.573033707865168, 'width': 1.02703651685394, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 85.2440308988764, 'y': 8.426966292134832, 'width': 1.5010533707865221, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene shows an open grassy area adjacent to buildings. The grassy sections are empty and static, with a fenced boundary next to some houses. No visible dynamic activity is present in the open space.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412914992445440-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412914992445440-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412914992445440-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412914992445440-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412914992445440-UAV5.png" } }, { "sequence_frame": "6-40m-1628412914992445440.png", "question_id": "MDMT_SC_38", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective provides the clearest view of the circular building and its surroundings?", "options": { "A": "UAV1 provides the clearest view due to its closer proximity", "B": "UAV2 provides the clearest view due to its higher angle and broader context", "C": "UAV3 provides the clearest view due to its focus on vehicles rather than buildings", "D": "UAV4 provides the clearest view of residential buildings, not the circular building" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 58.06706460674157, 'y': 20.50561797752809, 'width': 0.9480337078651715, 'height': 2.9494382022471903, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 16.573033707865168, 'width': 1.02703651685394, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 85.2440308988764, 'y': 8.426966292134832, 'width': 1.5010533707865221, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 focuses on multi-story residential buildings with limited visibility of the circular building. UAV2 provides a higher-altitude perspective revealing the circular building and its surroundings clearly. UAV3 highlights road traffic and nearby residential structures but shifts focus away from the circular building. UAV4 looks further at houses and green spaces, making other buildings less prominent, including the circular building.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412914992445440-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412914992445440-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412914992445440-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412914992445440-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412914992445440-UAV5.png" } }, { "sequence_frame": "6-40m-1628412914992445440.png", "question_id": "MDMT_OP_38", "question_type": "1.3 Observing Posture", "question": "Which UAV viewpoint provides the most effective perspective for identifying the positioning of the buildings relative to the curved road?", "options": { "A": "UAV1 provides the clearest perspective due to its direct focus on the buildings layout", "B": "UAV2 provides a better perspective due to its bird's-eye view showing the road curve clearly", "C": "UAV3 provides the clearest orientation as it focuses on the buildings in relation to the road network", "D": "UAV4 offers the best view due to its distant angle capturing both the buildings and surrounding environment" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 58.06706460674157, 'y': 20.50561797752809, 'width': 0.9480337078651715, 'height': 2.9494382022471903, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 67.15238764044943, 'y': 16.573033707865168, 'width': 1.02703651685394, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 85.2440308988764, 'y': 8.426966292134832, 'width': 1.5010533707865221, 'height': 1.9662921348314608, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 (first image) emphasizes the layout and arrangement of apartment buildings. Subsequent images from UAVs highlight broader perspectives, with UAV2 offering a higher angle view showcasing the curved road and its surroundings.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628412914992445440-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628412914992445440-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628412914992445440-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628412914992445440-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628412914992445440-UAV5.png" } }, { "sequence_frame": "6-40m-1628422473693368320.png", "question_id": "MDMT_SD_UAV2_39", "question_type": "1.1 Scene Description (UAV2)", "question": "What is the relationship between the vehicles and the buildings in this scene?", "options": { "A": "Vehicles are parked in front of buildings on both sides of the road", "B": "Vehicles are actively moving along the road flanked by buildings", "C": "Vehicles are scattered randomly in open spaces away from buildings", "D": "Vehicles are absent, and buildings form the central focus of the scene" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 18.72366573033708, 'y': 79.63483146067416, 'width': 2.2910814606741567, 'height': 5.477528089887642, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 14.45751404494382, 'y': 93.67977528089888, 'width': 3.1601123595505634, 'height': 6.32022471910112, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene depicts a long road running through an urban area, with buildings densely packed on both sides. Vehicles are actively moving along the multi-lane road in a structured manner, highlighting interaction between dynamic and static objects in the environment.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628422473693368320-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628422473693368320-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628422473693368320-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628422473693368320-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628422473693368320-UAV5.png" } }, { "sequence_frame": "6-40m-1628422473693368320.png", "question_id": "MDMT_SD_UAV5_39", "question_type": "1.1 Scene Description (UAV5)", "question": "What is the spatial relationship between the buildings and the road in this scene captured by UAV5?", "options": { "A": "The buildings are located along the road and surrounded by trees.", "B": "The buildings are scattered randomly with no proximity to the road.", "C": "The buildings are clustered entirely on one side of the road.", "D": "The buildings are located in an elevated area above the road." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 18.72366573033708, 'y': 79.63483146067416, 'width': 2.2910814606741567, 'height': 5.477528089887642, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 14.45751404494382, 'y': 93.67977528089888, 'width': 3.1601123595505634, 'height': 6.32022471910112, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene shows a road curving through a landscape with several buildings located along its path. The area around the road includes scattered trees and open fields, while buildings appear on one side adjacent to the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628422473693368320-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628422473693368320-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628422473693368320-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628422473693368320-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628422473693368320-UAV5.png" } }, { "sequence_frame": "6-40m-1628422473693368320.png", "question_id": "MDMT_SC_39", "question_type": "1.2 Scene Comparison", "question": "What significant difference in building types is observed between UAV1 and UAV4 perspectives?", "options": { "A": "UAV1 shows mostly apartment-style buildings, while UAV4 highlights smaller single-family homes.", "B": "UAV1 shows a mix of single-family homes and commercial buildings, while UAV4 focuses solely on skyscrapers.", "C": "UAV1 includes only residential houses, while UAV4 displays both residential and industrial buildings.", "D": "UAV1 displays religious structures prominently, whereas UAV4 features only office buildings." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 18.72366573033708, 'y': 79.63483146067416, 'width': 2.2910814606741567, 'height': 5.477528089887642, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 14.45751404494382, 'y': 93.67977528089888, 'width': 3.1601123595505634, 'height': 6.32022471910112, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 predominantly shows square apartment-style buildings with some small houses on the periphery. UAV4 shifts focus to the smaller single-family homes and a church, with fewer larger buildings visible.", "missing_models": -9, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628422473693368320-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628422473693368320-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628422473693368320-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628422473693368320-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628422473693368320-UAV5.png" } }, { "sequence_frame": "6-40m-1628422473693368320.png", "question_id": "MDMT_OP_39", "question_type": "1.3 Observing Posture", "question": "Which UAV image provides the clearest perception of the orientation of the small red-roofed buildings relative to the adjacent road?", "options": { "A": "UAV1 offers the clearest perception due to its focused view on the specific area.", "B": "UAV2 offers the clearest perception due to its wide-angle view of the surroundings.", "C": "UAV3 provides a better perception because it captures both the orientation of the buildings and the road curvature.", "D": "UAV4 provides the clearest perception due to its focus on the connection between the buildings and the hill landscape." }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 18.72366573033708, 'y': 79.63483146067416, 'width': 2.2910814606741567, 'height': 5.477528089887642, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 14.45751404494382, 'y': 93.67977528089888, 'width': 3.1601123595505634, 'height': 6.32022471910112, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures a close view of red-roofed buildings near a road bend; UAV2 shows the broader cityscape including roads and adjacent buildings; UAV3 highlights the road curvature along with nearby structures; UAV4 focuses on the landscape and distant alignment.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628422473693368320-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628422473693368320-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628422473693368320-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628422473693368320-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628422473693368320-UAV5.png" } }, { "sequence_frame": "6-40m-1628423268493889280.png", "question_id": "MDMT_SC_40", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective allows a clearer view of the intersection layout near the gas station?", "options": { "A": "UAV1 provides a clearer view due to its closer proximity and angle", "B": "UAV2 provides a more detailed view due to its higher altitude", "C": "Both UAV1 and UAV2 provide an equally clear view of the intersection layout", "D": "Neither UAV1 nor UAV2 provides significant visibility of the intersection layout" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 45.58462078651685, 'y': 12.5, 'width': 1.264044943820224, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.83637640449437, 'y': 5.337078651685393, 'width': 1.4220505617977608, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.28335674157303, 'y': 0.1404494382022472, 'width': 0.7900280898876417, 'height': 1.544943820224719, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.17731741573033, 'y': 1.544943820224719, 'width': 0.9480337078651644, 'height': 1.8258426966292134, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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": "UAV1 shows the intersection near the gas station with defined lane markings and visible vehicles. UAV2 provides a higher altitude view but lacks the clarity of the lane details visible in UAV1.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628423268493889280-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628423268493889280-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628423268493889280-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628423268493889280-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628423268493889280-UAV5.png" } }, { "sequence_frame": "6-40m-1628423268493889280.png", "question_id": "MDMT_OP_40", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better highlights the spatial layout of the small residential buildings near the intersection?", "options": { "A": "UAV1 provides a better view due to its diagonal angle showing the intersection and surrounding area", "B": "UAV2 provides a better view with a straight overhead angle capturing building arrangements symmetrically", "C": "UAV3 offers a slightly clearer view by showing residential arrangement and road curvature from the side", "D": "UAV4 best emphasizes building proximity to the intersection due to its focus on roads leading into the area" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 45.58462078651685, 'y': 12.5, 'width': 1.264044943820224, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.83637640449437, 'y': 5.337078651685393, 'width': 1.4220505617977608, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 66.28335674157303, 'y': 0.1404494382022472, 'width': 0.7900280898876417, 'height': 1.544943820224719, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 65.17731741573033, 'y': 1.544943820224719, 'width': 0.9480337078651644, 'height': 1.8258426966292134, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; Collaboration partner: UAV2; 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": "UAV1 shows a diagonal aerial view of an intersection highlighting the spatial arrangement of small residential buildings nearby; UAV2 captures the area from a downward perspective focusing on balance in building placement, whereas UAV3 and UAV4 show broader coverage but emphasize other structures or road features.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628423268493889280-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628423268493889280-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628423268493889280-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628423268493889280-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628423268493889280-UAV5.png" } }, { "sequence_frame": "6-40m-1628426933546515456.png", "question_id": "MDMT_SC_41", "question_type": "1.2 Scene Comparison", "question": "How do the types and arrangements of buildings differ between UAV1 and the other UAV perspectives?", "options": { "A": "UAV1 shows residential buildings along one road, while other UAVs show additional larger institutional buildings in the area.", "B": "UAV1 exclusively shows residential buildings and no other types are visible in subsequent UAV perspectives.", "C": "UAV1 shows a mix of building types, while the other UAV perspectives show mostly industrial buildings.", "D": "UAV1 displays more institutional buildings than the other UAV perspectives." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "UAV1 provides a close view of residential buildings, mostly apartments and a single detached house along the main road. Subsequent UAV perspectives show the same area but include additional institutional buildings farther south, surrounded by trees and road intersections.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628426933546515456-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628426933546515456-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628426933546515456-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628426933546515456-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628426933546515456-UAV5.png" } }, { "sequence_frame": "6-40m-1628426933546515456.png", "question_id": "MDMT_OP_41", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective offers a clearer view of the alignment between the residential buildings and the road network?", "options": { "A": "UAV1 provides a more detailed alignment view due to its front-facing angle", "B": "UAV2 provides a clearer alignment view due to its higher vantage angle", "C": "Both UAV perspectives equally show building-road alignment", "D": "Neither UAV perspective provides a clear alignment of buildings and roads" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Under shadow, Too small; Perception degradation: Under shadow, Low SNR (noisy), Small target / Long distance; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 0 (No); Collaboration partner: None", "image_description": "UAV1 offers a closer view of the residential buildings and their adjacency to roads, emphasizing the alignment; subsequent UAV images present higher angles, focusing more on the broader distribution of objects in the scene.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628426933546515456-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628426933546515456-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628426933546515456-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628426933546515456-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628426933546515456-UAV5.png" } }, { "sequence_frame": "6-40m-1628483886999027712.png", "question_id": "MDMT_SD_UAV1_42", "question_type": "1.1 Scene Description (UAV1)", "question": "What is the relationship between the parked vehicles and the nearby buildings in this scene?", "options": { "A": "Vehicles are parked directly in front of the buildings", "B": "Vehicles are parked on a road across a grass area from the buildings", "C": "Vehicles are parked alongside the buildings forming a narrow alleyway", "D": "Vehicles are parked randomly throughout the scene without a clear relationship to the buildings" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 96.06741573033707, 'y': 11.095505617977528, 'width': 1.501053370786508, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.27949438202246, 'y': 7.303370786516854, 'width': 1.5800561797752835, 'height': 2.808988764044943, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 multi-lane road with vehicles parked along its edges, separated from nearby residential buildings by a grass area bordered with trees. The buildings are arranged in clusters on one side while the vegetation surrounds the road on the other.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628483886999027712-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628483886999027712-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628483886999027712-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628483886999027712-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628483886999027712-UAV5.png" } }, { "sequence_frame": "6-40m-1628483886999027712.png", "question_id": "MDMT_SC_42", "question_type": "1.2 Scene Comparison", "question": "What is the key difference in the layout of residential buildings observed between UAV1 and the other UAV perspectives?", "options": { "A": "UAV1 shows apartment buildings prominently, while UAV4 displays more detached houses.", "B": "UAV2 reveals only four residential buildings, unlike UAV1 which shows more apartment complexes.", "C": "UAV3 highlights identical structures to UAV1 but differs in shadow positioning.", "D": "UAV1 shows fewer residential buildings overall compared to UAV5." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 96.06741573033707, 'y': 11.095505617977528, 'width': 1.501053370786508, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.27949438202246, 'y': 7.303370786516854, 'width': 1.5800561797752835, 'height': 2.808988764044943, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "UAV1 provides a clear view of apartment buildings near the road; UAV4 shifts focus to a larger number of detached houses positioned farther away from the main road. Other UAVs show variations in angles and shadow positions without introducing distinct changes in building types.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628483886999027712-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628483886999027712-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628483886999027712-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628483886999027712-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628483886999027712-UAV5.png" } }, { "sequence_frame": "6-40m-1628483886999027712.png", "question_id": "MDMT_OP_42", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a better overview of the spatial arrangement of the tall buildings relative to the road design?", "options": { "A": "UAV1 provides better clarity due to its lower, angular observation", "B": "UAV3 provides better clarity due to its closer proximity to the intersection", "C": "UAV4 provides better clarity due to its high-altitude perspective focusing on alignment", "D": "UAV5 provides better clarity by emphasizing the overall road layout in front of the buildings" }, "correct_answer": "D", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 96.06741573033707, 'y': 11.095505617977528, 'width': 1.501053370786508, 'height': 3.511235955056179, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.27949438202246, 'y': 7.303370786516854, 'width': 1.5800561797752835, 'height': 2.808988764044943, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "UAV1 (first image) captures a diverse angle focusing on individual elements like trees and buildings; subsequent UAVs provide elevated, broader perspectives capturing variations in building-road placements and shadows at different proximities.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628483886999027712-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628483886999027712-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628483886999027712-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628483886999027712-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628483886999027712-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_SD_UAV1_43", "question_type": "1.1 Scene Description (UAV1)", "question": "What is the dominant environmental feature in the scene provided by UAV1?", "options": { "A": "An urban setting with a mix of buildings and landscaped roads", "B": "A densely forested region with no visible structures", "C": "A coastal area surrounded by water and beaches", "D": "A barren desert with minimal vegetation" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 51.11481741573034, 'y': 24.43820224719101, 'width': 1.6590589887640377, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.56179775280899, 'y': 22.191011235955056, 'width': 1.501053370786508, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The image consists of an urban setting with a variety of buildings, including offices and residential structures. Landscaped roads are visible, along with green areas containing trees. Vehicles are moving on multi-lane roads, and features such as a small park and a notable rock formation add to the environmental details.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_SD_UAV4_43", "question_type": "1.1 Scene Description (UAV4)", "question": "Which best describes the environmental layout visible in this UAV scene?", "options": { "A": "A dense urban area with tall buildings concentrated in one region", "B": "A suburban area with mixed residential and open green spaces", "C": "A rural setting with sparse structures and wide farmland", "D": "A commercial district dominated by industrial complexes" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 51.11481741573034, 'y': 24.43820224719101, 'width': 1.6590589887640377, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.56179775280899, 'y': 22.191011235955056, 'width': 1.501053370786508, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The UAV scene presents a suburban environment with roads lined by trees, mixed residential buildings including apartments and houses, and open grassy areas, indicating a balance between urban structures and greenery.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_SC_43", "question_type": "1.2 Scene Comparison", "question": "What difference in object visibility is observed between UAV1 and UAV3?", "options": { "A": "UAV1 provides a clearer view of the rock than UAV3 due to its angle", "B": "UAV3 shows the rock completely hidden by trees while UAV1 shows its full visibility", "C": "Both UAV1 and UAV3 equally reveal the rock's position without obstructions", "D": "UAV1 and UAV3 show the rock partially occluded by nearby buildings" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 51.11481741573034, 'y': 24.43820224719101, 'width': 1.6590589887640377, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.56179775280899, 'y': 22.191011235955056, 'width': 1.501053370786508, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures a broad view of the area with the rock fully visible surrounded by open space. UAV3, with its focus closer to the road and parking lot, shows the rock slightly obscured due to the perspective, with less prominence in the scene.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628484472543340288.png", "question_id": "MDMT_OP_43", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides the most unobstructed view of the positions of the circular building relative to the tree-lined area?", "options": { "A": "UAV1 provides the most unobstructed view due to its distant angle", "B": "UAV2 provides the most unobstructed view due to its central focus on the circular building", "C": "UAV3 provides the clearest view due to its vertical alignment with the circular building", "D": "UAV4 provides the most unobstructed view due to its angle overlooking multiple trees" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 51.11481741573034, 'y': 24.43820224719101, 'width': 1.6590589887640377, 'height': 1.966292134831459, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 50.56179775280899, 'y': 22.191011235955056, 'width': 1.501053370786508, 'height': 1.9662921348314626, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 shows the circular building with adjacent tree-lined areas from a wider landscape perspective; UAV2 focuses centrally on the circular building and its immediate surroundings; UAV3 transitions to a vertical overview of the circular building; UAV4 moves further along the scene with less focus on the circular building.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628484472543340288-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628484472543340288-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628484472543340288-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628484472543340288-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628484472543340288-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_SD_UAV2_44", "question_type": "1.1 Scene Description (UAV2)", "question": "How are the trees positioned relative to the houses and roads in this scene?", "options": { "A": "The trees are scattered randomly along the edges of the road", "B": "The trees form clusters around houses near the intersection", "C": "The trees align uniformly along the length of the road", "D": "The trees are all concentrated in a single area away from the houses" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV2", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 69.75948033707866, 'y': 96.62921348314607, 'width': 3.5551264044943736, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.04248595505618, 'y': 86.65730337078652, 'width': 1.9575140449438209, 'height': 4.213483146067404, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene shows clusters of trees arranged around houses on a green patch near a road intersection, with vehicles moving along multiple lanes. Buildings and additional houses are positioned further along the main roads.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_SD_UAV4_44", "question_type": "1.1 Scene Description (UAV4)", "question": "What best describes the spatial arrangement of the buildings relative to the large curving road visible in the scene?", "options": { "A": "Buildings are positioned only on one side of the curving road", "B": "Buildings are scattered randomly far from the curving road", "C": "Buildings are tightly clustered on both sides of the curving road", "D": "Buildings form a straight line pattern completely parallel to the curving road" }, "correct_answer": "C", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 69.75948033707866, 'y': 96.62921348314607, 'width': 3.5551264044943736, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.04248595505618, 'y': 86.65730337078652, 'width': 1.9575140449438209, 'height': 4.213483146067404, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene shows a large curving road surrounded by various buildings on both sides. Dense housing structures cluster near the road, and multiple vehicles are present near this road. Trees and open green spaces are also visible among the urban layout.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_SD_UAV5_44", "question_type": "1.1 Scene Description (UAV5)", "question": "How are the residential houses positioned relative to the multi-lane road in this scene?", "options": { "A": "Residential houses are aligned parallel to the multi-lane road with a large gap in between", "B": "Residential houses are positioned on both sides of the multi-lane road symmetrically", "C": "Residential houses are clustered on one side of the multi-lane road closest to the corner", "D": "Residential houses are scattered around the area with no clear alignment to the road" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV5", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 69.75948033707866, 'y': 96.62921348314607, 'width': 3.5551264044943736, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.04248595505618, 'y': 86.65730337078652, 'width': 1.9575140449438209, 'height': 4.213483146067404, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene shows a multi-lane road curving through an area surrounded by buildings. Residential houses are positioned parallel to one side of the road, separated by a strip of green grass and some trees. The area also includes larger buildings that are located farther away from the road.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_SC_44", "question_type": "1.2 Scene Comparison", "question": "What is the primary difference in the types of buildings visible between UAV1 and the other perspectives?", "options": { "A": "UAV1 focuses solely on residential houses, while other UAV perspectives display skyscrapers and commercial buildings", "B": "UAV1 includes cylindrical silos and a church, whereas subsequent images place greater emphasis on larger apartment complexes and dense residential areas", "C": "UAV1 shows only small red-brick houses, whereas others exclude such buildings entirely", "D": "Both UAV1 and the subsequent UAV perspectives exclusively show large apartment buildings without variation" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 69.75948033707866, 'y': 96.62921348314607, 'width': 3.5551264044943736, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.04248595505618, 'y': 86.65730337078652, 'width': 1.9575140449438209, 'height': 4.213483146067404, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 highlights cylindrical silos, a church, small houses, and a few rectangular apartment buildings. Subsequent UAV images show a broader context, incorporating large apartment complexes, clusters of high-rise buildings, and suburban housing areas as well as adjacent roads.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628494009272228352.png", "question_id": "MDMT_OP_44", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better highlights the relative sizes and layouts of buildings in the scene?", "options": { "A": "UAV1 provides a clearer view due to its focused angle on specific buildings", "B": "UAV2 provides better clarity due to its higher-altitude view encompassing more buildings", "C": "Both UAVs provide equally clear views of building sizes and layouts", "D": "Neither UAV provides sufficient detail to accurately observe the relative sizes and layouts" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Fair (3/5) - Some blur, noticeable noise, slight color issues.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 69.75948033707866, 'y': 96.62921348314607, 'width': 3.5551264044943736, 'height': 3.3707865168539257, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 98.04248595505618, 'y': 86.65730337078652, 'width': 1.9575140449438209, 'height': 4.213483146067404, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures a closer view of two large rectangular buildings with less peripheral detail, while UAV2 provides a broader overview of the road, additional buildings, and their spatial arrangements.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628494009272228352-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628494009272228352-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628494009272228352-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628494009272228352-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628494009272228352-UAV5.png" } }, { "sequence_frame": "6-40m-1628497853920271360.png", "question_id": "MDMT_SD_UAV1_45", "question_type": "1.1 Scene Description (UAV1)", "question": "What type of environment is shown in the scene captured by UAV1?", "options": { "A": "A dense urban area with skyscrapers and industrial buildings", "B": "A suburban area featuring mid-rise buildings and organized streets", "C": "A rural area with fields and scattered homes", "D": "A recreational park with open green spaces and walking paths" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV1", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 79.79283707865167, 'y': 44.10112359550562, 'width': 3.160112359550567, 'height': 2.668539325842694, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 51.1938202247191, 'y': 30.89887640449438, 'width': 1.896067415730343, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.688553370786515, 'y': 14.747191011235955, 'width': 1.1850421348314626, 'height': 1.54494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.530547752808985, 'y': 17.134831460674157, 'width': 1.1060393258427013, 'height': 1.2640449438202275, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The image shows a suburban area with mid-rise rectangular buildings organized along streets. A circular glass structure stands out among residential spaces, and trees are positioned along the roads and throughout the area.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628497853920271360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628497853920271360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628497853920271360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628497853920271360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628497853920271360-UAV5.png" } }, { "sequence_frame": "6-40m-1628497853920271360.png", "question_id": "MDMT_SD_UAV4_45", "question_type": "1.1 Scene Description (UAV4)", "question": "What is the primary environmental context depicted in this scene?", "options": { "A": "A densely populated urban area with skyscrapers", "B": "A suburban area with buildings and open spaces", "C": "A remote rural area dominated by farmland", "D": "A forested region with no human structures" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 79.79283707865167, 'y': 44.10112359550562, 'width': 3.160112359550567, 'height': 2.668539325842694, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 51.1938202247191, 'y': 30.89887640449438, 'width': 1.896067415730343, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.688553370786515, 'y': 14.747191011235955, 'width': 1.1850421348314626, 'height': 1.54494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.530547752808985, 'y': 17.134831460674157, 'width': 1.1060393258427013, 'height': 1.2640449438202275, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The scene shows a combination of urban and suburban features, including rows of multi-story buildings adjacent to a road, smaller individual houses, open grassy spaces, and other structures such as silos and a church.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628497853920271360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628497853920271360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628497853920271360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628497853920271360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628497853920271360-UAV5.png" } }, { "sequence_frame": "6-40m-1628497853920271360.png", "question_id": "MDMT_SC_45", "question_type": "1.2 Scene Comparison", "question": "How does the visibility of the circular building differ between UAV1 and other UAV perspectives?", "options": { "A": "The circular building is fully visible and centrally positioned in UAV1, but partially occluded in UAV2 due to nearby structures.", "B": "The circular building is fully visible in UAV1, while it is completely absent in UAV3 and UAV4.", "C": "The circular building is visible in UAV1 and UAV2, but partially obscured by shadows in UAV3.", "D": "The circular building is completely hidden in UAV1 and visible from a different angle in UAV2." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 79.79283707865167, 'y': 44.10112359550562, 'width': 3.160112359550567, 'height': 2.668539325842694, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 51.1938202247191, 'y': 30.89887640449438, 'width': 1.896067415730343, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.688553370786515, 'y': 14.747191011235955, 'width': 1.1850421348314626, 'height': 1.54494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.530547752808985, 'y': 17.134831460674157, 'width': 1.1060393258427013, 'height': 1.2640449438202275, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures a top-down view of a distinctive circular building surrounded by rectangular buildings with trees along the road; subsequent UAV perspectives capture broader angles, showing more distant areas where the circular building becomes less prominent or visible.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628497853920271360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628497853920271360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628497853920271360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628497853920271360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628497853920271360-UAV5.png" } }, { "sequence_frame": "6-40m-1628497853920271360.png", "question_id": "MDMT_OP_45", "question_type": "1.3 Observing Posture", "question": "Which UAV image provides a clearer view of the circular building's structural details and alignment with its surroundings?", "options": { "A": "UAV1 provides a clearer view due to its top-down perspective directly above the circular building", "B": "UAV2 provides a clearer view due to its angled perspective showing surrounding buildings and streets", "C": "UAV3 provides a clearer view due to its distant perspective including the broader neighborhood layout", "D": "UAV4 provides a clearer view due to its focus on rural structures and outskirts" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 79.79283707865167, 'y': 44.10112359550562, 'width': 3.160112359550567, 'height': 2.668539325842694, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 51.1938202247191, 'y': 30.89887640449438, 'width': 1.896067415730343, 'height': 2.106741573033709, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.688553370786515, 'y': 14.747191011235955, 'width': 1.1850421348314626, 'height': 1.54494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 43.530547752808985, 'y': 17.134831460674157, 'width': 1.1060393258427013, 'height': 1.2640449438202275, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 shows a top-down view emphasizing the circular building and its immediate surroundings; UAV2 shows an angled view revealing urban alignment; UAV3 and UAV4 shift focus to rural and distant perspectives.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628497853920271360-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628497853920271360-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628497853920271360-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628497853920271360-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628497853920271360-UAV5.png" } }, { "sequence_frame": "6-40m-1628502416425925888.png", "question_id": "MDMT_SD_UAV3_46", "question_type": "1.1 Scene Description (UAV3)", "question": "What is the dominant environmental feature in the area depicted in this UAV3 scene?", "options": { "A": "A suburban area with a mix of low-rise houses and apartment buildings surrounded by open green spaces", "B": "A rural area dominated by large agricultural fields and sparse housing", "C": "An industrial zone with factories and storage units lining the roads", "D": "A central urban area with high-density skyscrapers and minimal vegetation" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 70.23349719101122, 'y': 10.53370786516854, 'width': 1.3430477528089995, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.78651685393258, 'y': 8.146067415730338, 'width': 1.264044943820224, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.39150280898876, 'y': 9.410112359550562, 'width': 1.8170646067415677, 'height': 0.8426966292134831, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The scene shows a suburban setting with rows of low-rise houses alongside roads, a few multi-story apartment buildings, and open green spaces in the surrounding area.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502416425925888-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502416425925888-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502416425925888-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502416425925888-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502416425925888-UAV5.png" } }, { "sequence_frame": "6-40m-1628502416425925888.png", "question_id": "MDMT_SD_UAV4_46", "question_type": "1.1 Scene Description (UAV4)", "question": "What type of setting does the environmental layout in this scene primarily represent?", "options": { "A": "A suburban area with a mix of residential buildings and green spaces", "B": "A dense urban area with tall skyscrapers dominating the landscape", "C": "A rural area with open fields and sporadic buildings", "D": "An industrial area with warehouses and factories" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV4", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 70.23349719101122, 'y': 10.53370786516854, 'width': 1.3430477528089995, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.78651685393258, 'y': 8.146067415730338, 'width': 1.264044943820224, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.39150280898876, 'y': 9.410112359550562, 'width': 1.8170646067415677, 'height': 0.8426966292134831, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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": "The image shows a suburban area with rows of residential buildings, small houses, paved roads, and scattered green spaces. Palm trees line the roads, and the buildings are arranged in an orderly manner, emphasizing a planned urban setting rather than a dense skyline or wide-open rural environment.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502416425925888-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502416425925888-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502416425925888-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502416425925888-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502416425925888-UAV5.png" } }, { "sequence_frame": "6-40m-1628502416425925888.png", "question_id": "MDMT_SC_46", "question_type": "1.2 Scene Comparison", "question": "Which UAV perspective offers a clearer view of the parking area near the central intersection?", "options": { "A": "UAV1 provides the clearest view of the parking area layout and vehicles.", "B": "UAV2 offers a wider view, making the parking area less distinct.", "C": "UAV3 shows the parking area partially obscured by nearby buildings.", "D": "UAV4 shows no evidence of a parking area near the intersection." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 70.23349719101122, 'y': 10.53370786516854, 'width': 1.3430477528089995, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.78651685393258, 'y': 8.146067415730338, 'width': 1.264044943820224, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.39150280898876, 'y': 9.410112359550562, 'width': 1.8170646067415677, 'height': 0.8426966292134831, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 captures the central intersection with a visible parking area and multiple cars clearly discernible. UAV2 provides a broader view, which includes nearby roads and buildings, making details of the parking area less distinct. UAV3 captures the parking area partially blocked by the high-rise buildings visible in its perspective. UAV4 shifts focus to the area beyond the parking lot, omitting direct visibility of it.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502416425925888-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502416425925888-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502416425925888-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502416425925888-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502416425925888-UAV5.png" } }, { "sequence_frame": "6-40m-1628502416425925888.png", "question_id": "MDMT_OP_46", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective better reveals the spatial relationship between the rectangular building complex and the main road intersection?", "options": { "A": "UAV1 provides the clearest spatial relationship due to its angled view of the intersection", "B": "UAV2 reveals better spatial context as it shows a wider area including the road alignment", "C": "UAV3 offers the most clarity due to its parallel view of the buildings and intersection", "D": "UAV4 gives a better perspective by displaying the road layout directly adjacent to the buildings" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), 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': 70.23349719101122, 'y': 10.53370786516854, 'width': 1.3430477528089995, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.78651685393258, 'y': 8.146067415730338, 'width': 1.264044943820224, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 70.39150280898876, 'y': 9.410112359550562, 'width': 1.8170646067415677, 'height': 0.8426966292134831, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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 captures an angled view of the main road intersection with the rectangular building complex. Subsequent UAVs, including UAV2, UAV3, and UAV4, progressively show higher altitudes and wider angles, focusing more broadly on surrounding areas, diluting spatial specificity of the intersection.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502416425925888-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502416425925888-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502416425925888-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502416425925888-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502416425925888-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "MDMT_SD_UAV3_47", "question_type": "1.1 Scene Description (UAV3)", "question": "What best describes the environmental context of this scene?", "options": { "A": "A rural area with vast open grasslands and sparse infrastructure", "B": "A suburban area with neatly arranged houses and adjacent roads", "C": "A dense urban area with tall buildings and congested roads", "D": "A heavily wooded region with no visible constructions" }, "correct_answer": "B", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "UAV3", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 47.48068820224719, 'y': 8.426966292134832, 'width': 1.1060393258427013, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 18.249648876404493, 'y': 30.89887640449438, 'width': 2.2120786516853954, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 33.734199438202246, 'y': 18.820224719101123, 'width': 1.264044943820224, 'height': 1.54494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "The image shows an organized arrangement of houses aligned along a road on one side, bounded by an extensive open grassland area on the other side. Roads contain visible car traffic while residential buildings appear orderly and uniform, indicative of a suburban setting.", "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502471882108928-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "MDMT_SC_47", "question_type": "1.2 Scene Comparison", "question": "In terms of visibility, how does the arrangement and layout of the buildings differ between the UAV1 perspective and the subsequent UAV perspectives?", "options": { "A": "UAV1 clearly shows the central apartment complex surrounded by roads, while other UAV perspectives focus on the detached houses and distant buildings.", "B": "UAV1 prominently displays the detached houses on both sides of the road, while other UAV perspectives focus mainly on the apartment complex.", "C": "UAV1 provides a side view of the residential area, whereas other UAV perspectives provide a close-up of the commercial district.", "D": "UAV1 highlights more isolated houses, while other UAV perspectives display larger green spaces." }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 47.48068820224719, 'y': 8.426966292134832, 'width': 1.1060393258427013, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 18.249648876404493, 'y': 30.89887640449438, 'width': 2.2120786516853954, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 33.734199438202246, 'y': 18.820224719101123, 'width': 1.264044943820224, 'height': 1.54494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 captures an aerial view emphasizing a dense apartment complex surrounded by roads and trees, while the other UAV perspectives shift focus to detached houses, distant green areas, and adjacent buildings clustered along the streets.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502471882108928-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } }, { "sequence_frame": "6-40m-1628502471882108928.png", "question_id": "MDMT_OP_47", "question_type": "1.3 Observing Posture", "question": "Which UAV perspective provides a better understanding of the spatial distribution of the smaller residential units near the intersection?", "options": { "A": "UAV1 provides a clearer view due to its wider angle covering the intersection and nearby units", "B": "UAV2 provides a clearer view due to its focused view along the road's layout near the units", "C": "UAV3 provides a clearer view by highlighting the alignment of residential units with shadows", "D": "UAV4 provides a clearer view due to its elongated view of unit locations parallel to the larger buildings" }, "correct_answer": "A", "dataset_file": "VQA_AeroCollab_SU.json", "uav_id": "Unknown_UAV", "source": "Model-Based (Few-Shot)", "annotation_info": "Perception issues: Occluded, Out of FoV, Under shadow, Too small; Perception degradation: Object occlusion, Under shadow, Low SNR (noisy), Small target / Long distance, Out of FoV; Image quality: Poor (2/5) - Blurry, noisy, color and brightness problems.; Image usability: Not specified; Collaboration time: 1 (Yes); Collaboration content: [{'x': 47.48068820224719, 'y': 8.426966292134832, 'width': 1.1060393258427013, 'height': 1.264044943820224, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 18.249648876404493, 'y': 30.89887640449438, 'width': 2.2120786516853954, 'height': 1.5449438202247165, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}, {'x': 33.734199438202246, 'y': 18.820224719101123, 'width': 1.264044943820224, 'height': 1.54494382022472, 'rotation': 0, 'rectanglelabels': ['More information'], 'original_width': 800, 'original_height': 450}]; 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.", "image_description": "UAV1 shows a comprehensive view of the intersection alongside smaller residential units; subsequent UAVs change perspectives by narrowing focus on road layout, unit alignment, and gaps between the residential units and larger buildings.", "missing_models": -12, "uav_paths": { "UAV1": "Sim_5_UAVs/Samples/UAV1/6-40m-1628502471882108928-UAV1.png", "UAV2": "Sim_5_UAVs/Samples/UAV2/6-40m-1628502471882108928-UAV2.png", "UAV3": "Sim_5_UAVs/Samples/UAV3/6-40m-1628502471882108928-UAV3.png", "UAV4": "Sim_5_UAVs/Samples/UAV4/6-40m-1628502471882108928-UAV4.png", "UAV5": "Sim_5_UAVs/Samples/UAV5/6-40m-1628502471882108928-UAV5.png" } } ]