An improved Sobel edge detection

By Wenshuo Gao, Xiaoguang Zhang, Lei Yang, Huizhong Liu. International Conference on Computer Science and Information Technologies, 2010

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A Comparison of various Edge Detection Techniques used in Image Processing (2012, methodology): “It also should be noted that this method suffers the same drawbacks as the previous method, due to large contrast between images and the inability to handle the large translations of features [10].”
Simultaneous Enhancement and Super-Resolution of Underwater Imagery for Improved Visual Perception (2020, methodology): “However, we found better results and numeric stability by using the norm of image gradients directly; specifically, we use the standard 3 × 3 Sobel operator [24] for computing spatial gradient”