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In this study, a terrain classification algorithm is presented that was derived from various properties of the returned full waveform signals collected from the Ice, Cloud and land elevation Satellite (ICESat) mission. Such an algorithm would be beneficial for current and future studies of the cryosphere, particularly Greenland and Antarctica, by helping to identify changes in the large scale surface properties over time. The algorithm developed was validated over a test region in the Dry Valleys of Antarctica, where the terrain is well known and regularly monitored. The new classification algorithm distinguishes between four different types of terrain: snow, rock, ice and water. A description of the decision tree behind the algorithm will be provided, along with the results from the validation site. Over this test site, the algorithm achieved an overall classification accuracy of 74%.