A noise removal algorithm based on adaptive elevation difference thresholding for ICESat-2 photon-counting data

Abstract

Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) has shown great potential for near-shore bathymetry. Unavoidably, the photon data acquired has a lot of noise. In order to remove noise more accurately, a photon denoising algorithm based on adaptive elevation difference thresholding (AEDTA) is proposed under the assumption that the terrain is continuously changing. The algorithm uses a Gaussian function obtained by fitting an elevation histogram to ICESat-2 data for the extraction of underwater photons. Repeatedly count the elevation difference histogram of underwater photons and adaptively determine the threshold. And the final denoised underwater signal photons are obtained. Compared with the conventional clustering method of ordering points to identify the clustering structure (OPTICS), our algorithm achieves better photon detection results for underwater topography for different densities of ICESat-2 data and has the advantage of parameter adaption without human intervention. ICESat-2 data from Ganquan Island, Dongdao Island and Oahu Island were selected for testing, and the ICESat-2 bathymetry results calculated by the algorithm were compared with in situ bathymetry data to assess the reliability and accuracy of the proposed denoising algorithm. The results show that the MAE of the bathymetry results calculated using the ICESat-2 signal photon data extracted by the method ranged from 0.54 to 1.57 m and the RMSE ranged from 0.64 to 1.74 m in different seas. The algorithm can provide high quality denoised data for bathymetric mapping around coastal areas and islands. Meanwhile, the AEDTA algorithm also has a good denoising effect on terrestrial photons, and the effect of cloud shading on the Gaussian fit analysis of ICESat-2 data cannot be ignored.

Keywords

• ICESat-2 ATL03 data
• Photon noise removal
• Elevation difference histogram
• Water depth