CityToolVQA: Tool-Augmented Visual Question Answering for 3D Spatial Cognition in Urban Low-Altitude Environments
Boao Yu, Yingzhen Nie, Yue Hu, Zhengqiu Zhu, Rusheng Ju
Abstract
CityToolVQA addresses the weak performance of Vision-Language Models (VLMs) on quantitative tasks in urban low-altitude visual question answering. We divide the seven tasks into qualitative and quantitative groups: qualitative questions are answered directly by the VLM, whereas quantitative questions are handled by an external visual-geometric toolchain that performs object grounding, segmentation, depth back-projection, and spatial computation. The toolchain can be attached to different VLMs in a zero-shot manner; a Depth-Assisted Prompt Inference (DAPI) fallback is triggered when the main-chain detection is invalid or unreliable, and CityToolVQA-SFT adapts the 8B backbone to tool-conditioned inputs. On the 73,324-question Open3D-VQA-v2 test set, CityToolVQA-SFT (Qwen3-VL-8B) reaches 67.6% overall accuracy, and attaching the toolchain to ten open-source VLMs improves quantitative-task accuracy by 12.7-36.9 percentage points. These results indicate that externalizing explicit 3D geometric computation effectively complements the limited ability of RGB-only VLMs to estimate metric distances and object sizes.