Autonomous robotic drone system for mapping forest interiors

The primary goal of this paper is to present a model of snow surface albedo (brightness) accounting for small-scale surface roughness effects. It can be combined with any volume scattering model. The results indicate that surface roughness may decrease the albedo by about 1–3 % in midwinter and even more than 10 % during the late melting season. The effect is largest for low solar zenith angle values and lower bulk snow albedo values.