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1. Support Point 추출
2. Support Point 매칭
3. Delaunay Triangulation
4. Disparity Planes 계산
5. Grid 생성
6. Disparity 계산
7. Consistency 검사
8. 작은 영역 제거
9. 보간
10. 적응적 평균
11. 메디안 필터
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