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Figure 2. Example of the possible distribution of the feature, seed, and known points on an image
Figure 4. Second step of expansion
Figure 5. Matching result of S1 and comparison with SGM, where (a) and (b) are the base and matching images of the stereo pair, respectively, and the areas within the dashed boxes
Figure 8. Matching result of S2 and comparison with LiDAR, where (a) and (b) are the base and matching images of the stereo pair, respectively, and the areas within the dashed boxes

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