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== Scharr operator ==
The Sobel operator, while reducing artifacts associated with a pure central differences operator, does not have perfect rotational symmetry. Scharr looked into improving this property and found that using the following kernels could produce better results
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\end{bmatrix}
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There are more rotational invariant kernel solutions for other image scales, but the highest angle accuracy can only be obtained by using larger 5 x 5 schemes, <ref>Kroon, 2009, Short Paper University Twente, [http://www.k-zone.nl/Kroon_DerivativePaper.pdf ''Numerical Optimization of Kernel Based Image Derivatives'' ].</ref>
==See also==
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