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, wherein the set of colors is generated by a set of light sources arranged in a single circle around a lens of a camera, wherein complementary colors of the light sources are located at any position and an antipode of the position so that the set of colors correspond to a continuous hue circle, and wherein each light source includes a red, green and blue light emitting diode (LED); generating a shadow confidence map from the set of images by using hues and saturations of pixels in the set of images; and extracting depth edges from the shadow confidence map.