Drying Clothes Outside Below Freezing
As long as there is less than 100% relative humidity, the ice will sublime to some extent.

Just in the past week it has been in the -12 °C to -5 °C range in my area, and the snow and ice on the ground did sublime, on the order of 1 cm per day, more in the sun less in the shade. 

For quantitative information see "Sublimation from a seasonal snowpack at a continental,
mid-latitude alpine site" Hydrol. Process. 13, 1781-1797 (1999).