Robust consensus based edge detection

A robust algorithm for edge detection is presented. The algorithm detects both roof- and step-type edges. A pixel is declared as an edge pixel if there is a consensus between different processes that try to determine if the pixel lies on a discontinuity. Robust methods are used to estimate local fits to windows in the pixel´s neighborhood and accumulate votes from each fit. The use of robust estimators allows the transformation of any window possibly containing a discontinuity to a binary window containing a step edge in the location of the discontinuity. Conventional methods are used to detect this step edge