Fast Edge Detection in RGB-D Images

The understanding of scenes is a key aspect of computer vision. Edge detection helps us to understand more about the scene structure since the edges mark a clear distinction for a transition from one region with similar properties to another one. When the edges are obtained from changes in orientation, we can use them to find key planes and describe the scene. This paper describes a method for fast edge detection in RGB-D images. The edge detection algorithm for depth images is based on the use of smooth constraints in orientation. We show experimental results that demonstrate the potential of the approach proposed for edge detection.