Abstract. Lake ice, as part of the Essential Climate Variable (ECV) lakes, is an important indicator to monitor climate change and global warming. The spatio-temporal extent of lake ice cover, along with the timings of key phenological events such as freeze-up and break-up, provide important cues about the local and global climate. We present a lake ice monitoring system based on the automatic analysis of Sentinel-1 Synthetic Aperture Radar (SAR) data with a deep neural network. In previous studies that used optical satellite imagery for lake ice monitoring, frequent cloud cover was a main limiting factor, which we overcome thanks to the ability of microwave sensors to penetrate clouds and observe the lakes regardless of the weather and illumination conditions. We cast ice detection as a two class (frozen, non-frozen) semantic segmentation problem and solve it using a state-of-the-art deep convolutional network (CNN).We report results on two winters (2016–17 and 2017–18) and three alpine lakes in Switzerland. The proposed model reaches mean Intersection-over-Union (mIoU) scores >90% on average, and >84% even for the most difficult lake. Additionally, we perform cross-validation tests and show that our algorithm generalises well across unseen lakes and winters.

Continuous observation of climate indicators, such as trends in lake freezing, is important to understand the dynamics of the local and global climate system. Consequently, lake ice has been included among the Essential Climate Variables (ECVs) of the Global Climate Observing System (GCOS), and there is a need to set up operational monitoring capabilities. Multi-temporal satellite images and publicly available webcam streams are among the viable data sources capable of monitoring lake ice. In this work we investigate machine learning-based image analysis as a tool to determine the spatio-temporal extent of ice on Swiss Alpine lakes as well as the ice-on and ice-off dates, from both multispectral optical satellite images (VIIRS and MODIS) and RGB webcam images. We model lake ice monitoring as a pixel-wise semantic segmentation problem, i.e., each pixel on the lake surface is classified to obtain a spatially explicit map of ice cover. We show experimentally that the proposed system produces consistently good results when tested on data from multiple winters and lakes. Our satellite-based method obtains mean Intersection-over-Union (mIoU) scores > 93%, for both sensors. It also generalises well across lakes and winters with mIoU scores > 78% and >80% respectively. On average, our webcam approach achieves mIoU values of ≈87% and generalisation scores of ≈71% and ≈69% across different cameras and winters respectively. Additionally, we generate and make available a new benchmark dataset of webcam images (Photi-LakeIce) which includes data from two winters and three cameras.

Continuous monitoring of climate indicators is important for understanding the dynamics and trends of the climate system. Lake ice has been identified as one such indicator, and has been included in the list of Essential Climate Variables (ECVs). Currently there are two main ways to survey lake ice cover and its change over time, in-situ measurements and satellite remote sensing. The challenge with both of them is to ensure sufficient spatial and temporal resolution. Here, we investigate the possibility to monitor lake ice with video streams acquired by publicly available webcams. Main advantages of webcams are their high temporal frequency and dense spatial sampling. By contrast, they have low spectral resolution and limited image quality. Moreover, the uncontrolled radiometry and low, oblique viewpoints result in heavily varying appearance of water, ice and snow. We present a workflow for pixel-wise semantic segmentation of images into these classes, based on state-of-the-art encoder-decoder Convolutional Neural Networks (CNNs). The proposed segmentation pipeline is evaluated on two sequences featuring different ground sampling distances. The experiment suggests that (networks of) webcams have great potential for lake ice monitoring. The overall per-pixel accuracies for both tested data sets exceed 95 %. Furthermore, per-image discrimination between ice-on and ice-off conditions, derived by accumulating per-pixel results, is 100 % correct for our test data, making it possible to precisely recover freezing and thawing dates.

Monitoring and analyzing the (decreasing) trends in lake freezing provides important information for climate research. Multi-temporal satellite images are a natural data source to survey ice on lakes. In this paper, we describe a method for lake ice monitoring, which uses low spatial resolution (250 m–1000 m) satellite images to determine whether a lake is frozen or not. We report results on four selected lakes in Switzerland: Sihl, Sils, Silvaplana and St. Moritz. These lakes have different properties regarding area, altitude, surrounding topography and freezing frequency, describing cases of medium to high difficulty. Digitized Open Street Map (OSM) lake outlines are back-projected on to the image space after generalization. As a pre-processing step, the absolute geolocation error of the lake outlines is corrected by matching the projected outlines to the images. We define the lake ice detection as a two-class (frozen, non-frozen) semantic segmentation problem. Several spectral channels of the multi-spectral satellite data are used, both reflective and emissive (thermal). Only the cloud-free (clean) pixels which lie completely inside the lake are analyzed. The most useful channels to solve the problem are selected with xgboost and visual analysis of histograms of reference data, while the classification is done with non-linear support vector machine (SVM). We show experimentally that this straight-forward approach works well with both MODIS and VIIRS satellite imagery. Moreover, we show that the algorithm produces consistent results when tested on data from multiple winters.

Abstract. Lake ice is a strong climate indicator and has been recognised as part of the Essential Climate Variables (ECV) by the Global Climate Observing System (GCOS). The dynamics of freezing and thawing, and possible shifts of freezing patterns over time, can help in understanding the local and global climate systems. One way to acquire the spatio-temporal information about lake ice formation, independent of clouds, is to analyse webcam images. This paper intends to move towards a universal model for monitoring lake ice with freely available webcam data. We demonstrate good performance, including the ability to generalise across different winters and lakes, with a state-of-the-art Convolutional Neural Network (CNN) model for semantic image segmentation, Deeplab v3+. Moreover, we design a variant of that model, termed Deep-U-Lab, which predicts sharper, more correct segmentation boundaries. We have tested the model’s ability to generalise with data from multiple camera views and two different winters. On average, it achieves Intersection-over-Union (IoU) values of ≈71% across different cameras and ≈69% across different winters, greatly outperforming prior work. Going even further, we show that the model even achieves 60% IoU on arbitrary images scraped from photo-sharing websites. As part of the work, we introduce a new benchmark dataset of webcam images, Photi-LakeIce, from multiple cameras and two different winters, along with pixel-wise ground truth annotations.