1. A method for extracting depth edges from a set of images, comprising the steps of: acquiring the set of images of a scene while illuminating the scene with a set of colors with different hues, wherein the set of colors is generated by a set of light sources arranged in a substantial circular manner around a lens of a camera to form a hue circle, wherein each light source emits a different color; generating a shadow confidence map from the set of images by using hues and saturations of pixels in the set of images; and to extracting depth edges from the shadow confidence map.