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DroneGround: Open-Vocabulary Drone Payload Characterization Using Synthetic Data and Grounded Vision-Language Models

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Automated drone surveillance has become increasingly important for public safety, critical infrastructure protection,and restricted airspace monitoring. While existing vision-based systems achieve strong performance for drone detection and tracking, reliable payload characterization remains highly challenging under long-range imaging conditions due to limited availability of annotated real-world datasets, and substantial distribution shifts encountered during deployment. Existing approaches formulate payload characterization as a closed-set object detection problem, limiting their ability to r

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