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Well, Superpixels extractor algorithms are usually applied to Color image. For example SLIC algorithm uses CIElab color space to which pixel should be assigned together. Thus, If you want to apply directly SLIC to depth image which has only depth information, the simple answer is NO, otherwise you have to modify the SLIC Kernel. However, in 3D Superpixels are called Supervoxels thus you have to look for Supervoxel methods (Check PCL library fro VCCS).
If you need more information do not hesitate to ask.
