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We model the range image segmentation problem in the framework of Bayes inference and Markov random field. Thereafter an extended ICM algorithm is presented in this paper. We introduce another estimation (surface parameter set A) into the basic ICM algorithm and also propose to use edge-based segmentation as the initial state for subsequent energy minimizing procedure. Theoretical and experimental analysis of convergence is given. We have shown that in this way a little computation brings forth a high-quality segmentation.