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These points contain valuable prior information for the estimation of the remaining ambiguous disparities.
First, the disparities of a sparse set of support points are computed using a full disparity
range. The image coordinates of the support points are then used to create
a 2D mesh via Delaunay triangulation. A prior is computed to disambiguate
the matching problem, making the process efficient by restricting the search to
plausible regions. In particular, this prior is formed by computing a piecewise
linear function induced by the support point disparities and the triangulated
mesh
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