1.Census cost computation;
2.Cost aggregation(8 paths);
3.Disparity computation;
4.Disparity refinement
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https://link.springer.com/article/10.1023/A:1014573219977
https://ieeexplore.ieee.org/abstract/document/4359315
http://cdmd.cnki.com.cn/Article/CDMD-10486-1018196771.htm