AetherVision-Bench: An Open-Vocabulary RGB-Infrared Benchmark for Multi-Angle Segmentation across Aerial and Ground Perspectives

Open-vocabulary semantic segmentation (OVSS) involves assigning labels to each pixel in an image based on textual descriptions, leveraging world models like CLIP. However, they encounter significant challenges in cross-domain generalization, hindering their practical efficacy in real-world applications. Embodied AI systems are transforming autonomous navigation for ground vehicles and drones by enhancing their perception abilities, and in this study, we present AetherVision-Bench, a benchmark for multi-angle segmentation across aerial, and ground perspectives, which facilitates an extensive evaluation of performance across different viewing angles and sensor modalities. We assess state-of-the-art OVSS models on the proposed benchmark and investigate the key factors that impact the performance of zero-shot transfer models. Our work pioneers the creation of a robustness benchmark, offering valuable insights and establishing a foundation for future research.

@article{sikdar2025_2506.03709,
  title={ AetherVision-Bench: An Open-Vocabulary RGB-Infrared Benchmark for Multi-Angle Segmentation across Aerial and Ground Perspectives },
  author={ Aniruddh Sikdar and Aditya Gandhamal and Suresh Sundaram },
  journal={arXiv preprint arXiv:2506.03709},
  year={ 2025 }
}