# Towards UAV Image Dehazing: A UAV Atmospheric Scattering Model, Benchmark, and Geometry-Aware Deep Unfolding Network

arXiv: https://arxiv.org/abs/2606.16392 · HTML: https://mlsanity.com/paper/2606.16392/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 42 references that are in the map.
- First posted on arXiv 15 Jun 2026.

## Builds on (most cited first, 3 of 3)

- [UnfoldIR: Rethinking Deep Unfolding Network in Illumination Degradation Image Restoration](https://mlsanity.com/paper/2505.06683/) (2025)
- [Gradient as Conditions: Rethinking HOG for All-in-one Image Restoration](https://mlsanity.com/paper/2504.09377/) (2025)
- [Bilevel Layer-Positioning LoRA for Real Image Dehazing](https://mlsanity.com/paper/2603.10872/) (2026)

## Abstract (arXiv)

In UAV applications, haze significantly obscures distant details and weaken structural information, hindering the recovery of details. Current UAV scenarios still face two key challenges: (i) paired hazy/clean images from the real world are unobtainable, while the classical atmospheric scattering model is inadequate for modeling the spatially non-uniform haze in UAV imagery; (ii) existing dehazing methods struggle to remove the heavy haze accumulated in the upper regions of UAV images. To address these issues, we first propose a UAV Atmospheric Scattering Model (UASM), which explicitly incorporates flight altitude, viewing pitch, and extinction to characterize the non-uniform haze distribution in UAV imaging. Based on UASM, we develop a physics-driven dehazing framework, termed Geometry-aware Proximal Deep Unfolding Network (GP-DUN). Specifically, GP-DUN consists of three key modules: a Latent Geometry Estimator (LGE) that infers transmittance consistent with UAV imaging geometry, a Geometry-aware Gradient Descent Module (GeoGDM) that embeds UASM into the data-fidelity term and performs physics-consistent closed-form updates, and an Pooling-Expert Proximal Mapping Module (PE-PMM) that learns an implicit prior to restore textures and structures beyond the capability of explicit physical modeling. In addition, we further construct UASM-HazeSet, which provides controllable paired synthetic data together with 2,285 real UAV haze images for testing. Extensive experiments show that GP-DUN consistently outperforms existing methods on both UASM-HazeSet and real UAV haze benchmarks.