1. A method for detecting an interest point in an image using edges, comprising: computing normalized edge magnitudes and edge orientations for the image using a processor to form a normalized gradient image; dividing the normalized gradient image into a plurality of image orientation maps having edge orientations; applying orientation dependent filtering to the image orientation maps to form response images; summing the response images to obtain an aggregated filter response image; identifying maxima in spatial position and scale in the aggregated filter response image; and defining maxima in the aggregated filter response as interest points.