Abstract: We present a discrete-time mathematical formulation for applying recursive digital filters to non-uniformly sampled signals. Our solution presents several desirable features: it preserves the stability of the original filters; is well-conditioned for low-pass, high-pass, and band-pass filters alike; its cost is linear in the number of samples and is not affected by the size of the filter support. Our method is general and works with any non-uniformly sampled signal and any recursive digital filter defined by a difference equation. Since our formulation directly uses the filter coefficients, it works out-of-the-box with existing methodologies for digital filter design. We demonstrate the effectiveness of our approach by filtering non-uniformly sampled signals in various image and video processing tasks including edge-preserving color filtering, noise reduction, stylization, and detail enhancement. Our formulation enables, for the first time, edge-aware evaluation of any recursive infinite impulse response digital filter (not only low-pass), producing high-quality filtering results in real time.