I. Foreword
Image edge detection is a basic technique in image process, image analysis and computer vision, which is applied in domains such as industry, medicine, spaceflight and military extensively. Edge which is described with direction and magnitude is a basic characteristic of image and other characteristics are all deduced from edge and area. Along with same direction of edge, the change of pixel value is small, and the change is large along with vertical direction of edge. First-order derivative of pixel on edge is big and second-order derivative on edge is zero.