Bilateral filter has shown its outstanding performance in image denoising and other multimedia applications. In this paper, a new color interpolation technique named joint bilateral demosaicking is proposed. Considering the image gradient, an edge-sensing initialization step is performed. In addition, joint bilateral filter exploits the correlation between color channels with the information from initialization while preserving edges. Experimental results show the superiority of the proposed technique in suppressing demosaicking artifacts and producing more visually acceptable images.