# CloudMamba: An Uncertainty-Guided Dual-Scale Mamba Network for Cloud Detection in Remote Sensing Imagery

arXiv: https://arxiv.org/abs/2604.06844 · HTML: https://mlsanity.com/paper/2604.06844/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Point clouds, detection and remote sensing, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 34 of its 81 references that are in the map.
- First posted on arXiv 8 Apr 2026.

## Placed in

- State-space sequence models (S4, Mamba) / [Point clouds, detection and remote sensing](https://mlsanity.com/ssm/point-clouds-detection-and-remote-sensing/)

## Builds on (most cited first, 30 of 34)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [Efficiently Modeling Long Sequences with Structured State Spaces](https://mlsanity.com/paper/2111.00396/) (2021)
- [VMamba: Visual State Space Model](https://mlsanity.com/paper/2401.10166/) (2024)
- [Combining Recurrent, Convolutional, and Continuous-time Models with Linear State-Space Layers](https://mlsanity.com/paper/2110.13985/) (2021)
- [U-Mamba: Enhancing Long-range Dependency for Biomedical Image Segmentation](https://mlsanity.com/paper/2401.04722/) (2024)
- [VM-UNet: Vision Mamba UNet for Medical Image Segmentation](https://mlsanity.com/paper/2402.02491/) (2024)
- [RS-Mamba for Large Remote Sensing Image Dense Prediction](https://mlsanity.com/paper/2404.02668/) (2024)
- [CDMamba: Incorporating Local Clues into Mamba for Remote Sensing Image Binary Change Detection](https://mlsanity.com/paper/2406.04207/) (2024)
- [RSCaMa: Remote Sensing Image Change Captioning with State Space Model](https://mlsanity.com/paper/2404.18895/) (2024)
- [RS3Mamba: Visual State Space Model for Remote Sensing Images Semantic Segmentation](https://mlsanity.com/paper/2404.02457/) (2024)
- [Remote Sensing SpatioTemporal Vision-Language Models: A Comprehensive Survey](https://mlsanity.com/paper/2412.02573/) (2024)
- [CM-UNet: Hybrid CNN-Mamba UNet for Remote Sensing Image Semantic Segmentation](https://mlsanity.com/paper/2405.10530/) (2024)
- [RSRefSeg 2: Decoupling Referring Remote Sensing Image Segmentation with Foundation Models](https://mlsanity.com/paper/2507.06231/) (2025)
- [CloudSegNet: A Deep Network for Nychthemeron Cloud Image Segmentation](https://mlsanity.com/paper/1904.07979/) (2019)
- [PyramidMamba: Rethinking Pyramid Feature Fusion with Selective Space State Model for Semantic Segmentation of Remote Sensing Imagery](https://mlsanity.com/paper/2406.10828/) (2024)
- [MambaDS: Near-Surface Meteorological Field Downscaling with Topography Constrained Selective State Space Modeling](https://mlsanity.com/paper/2408.10854/) (2024)
- [MSFMamba: Multi-Scale Feature Fusion State Space Model for Multi-Source Remote Sensing Image Classification](https://mlsanity.com/paper/2408.14255/) (2024)
- [IGroupSS-Mamba: Interval Group Spatial-Spectral Mamba for Hyperspectral Image Classification](https://mlsanity.com/paper/2410.05100/) (2024)
- [AgriFM: A Multi-source Temporal Remote Sensing Foundation Model for Agriculture Mapping](https://mlsanity.com/paper/2505.21357/) (2025)
- [Adaptive Frequency Enhancement Network for Remote Sensing Image Semantic Segmentation](https://mlsanity.com/paper/2504.02647/) (2025)
- [Location-aware Adaptive Normalization: A Deep Learning Approach For Wildfire Danger Forecasting](https://mlsanity.com/paper/2212.08208/) (2022)
- [FoBa: A Foreground-Background co-Guided Method and New Benchmark for Remote Sensing Semantic Change Detection](https://mlsanity.com/paper/2509.15788/) (2025)
- [UNetMamba: An Efficient UNet-Like Mamba for Semantic Segmentation of High-Resolution Remote Sensing Images](https://mlsanity.com/paper/2408.11545/) (2024)
- [CD-CTFM: A Lightweight CNN-Transformer Network for Remote Sensing Cloud Detection Fusing Multiscale Features](https://mlsanity.com/paper/2306.07186/) (2023)
- [PPMamba: A Pyramid Pooling Local Auxiliary SSM-Based Model for Remote Sensing Image Semantic Segmentation](https://mlsanity.com/paper/2409.06309/) (2024)
- [WSSM: Geographic-enhanced hierarchical state-space model for global station weather forecast](https://mlsanity.com/paper/2501.11238/) (2025)

## Abstract (arXiv)

Cloud detection in remote sensing imagery is a fundamental, critical, and highly challenging problem. Existing deep learning-based cloud detection methods generally formulate it as a single-stage pixel-wise binary segmentation task with one forward pass. However, such single-stage approaches exhibit ambiguity and uncertainty in thin-cloud regions and struggle to accurately handle fragmented clouds and boundary details. In this paper, we propose a novel deep learning framework termed CloudMamba. To address the ambiguity in thin-cloud regions, we introduce an uncertainty-guided two-stage cloud detection strategy. An embedded uncertainty estimation module is proposed to automatically quantify the confidence of thin-cloud segmentation, and a second-stage refinement segmentation is introduced to improve the accuracy in low-confidence hard regions. To better handle fragmented clouds and fine-grained boundary details, we design a dual-scale Mamba network based on a CNN-Mamba hybrid architecture. Compared with Transformer-based models with quadratic computational complexity, the proposed method maintains linear computational complexity while effectively capturing both large-scale structural characteristics and small-scale boundary details of clouds, enabling accurate delineation of overall cloud morphology and precise boundary segmentation. Extensive experiments conducted on the GF1_WHU and Levir_CS public datasets demonstrate that the proposed method outperforms existing approaches across multiple segmentation accuracy metrics, while offering high efficiency and process transparency. Our code is available at https://github.com/jayoungo/CloudMamba.