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並前往https://openaccess.thecvf.com/content_cvpr_2017/papers/Strecke_Accurate_Depth_and_CVPR_2017_paper.pdf

Accurate Depth and Normal Maps From Occlusion-Aware ...

recover only a piecewise flat disparity map from the cost volume, with normals pointing mostly towards the image plane. This renders normal maps recovered ...

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