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Filtering Disparity Map

Any ideas on how to filter out these fluctuations? because it is messing up my generated disparity value, and I can't integrate my distance estimation algorithm.

My pre-processing was jus convert the input image into grayscale, and I only adjust WLS filter in its lambda & Sigma.

Any ideas on how to filter my depth map?? image description

Filtering Disparity Map

Any ideas on how to filter out these fluctuations? because it is messing up my generated disparity value, and I can't integrate my distance estimation algorithm.

My pre-processing was jus convert the input image into grayscale, and I only adjust WLS filter in its lambda & Sigma.

Any ideas on how to filter my depth map?? image description