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Now let us compare out compact window approach with the fixed window approach. This is again the ground truth image, and these are the results our compact window algorithm gives. The two images below show the results of a small fixed window and the large fixed window respectively. Our compact window algorithm does a very good job of preserving discontinuities and finding reliable results in areas of low texture simulatneously. The error counts for our result is 16%, for the other two 33% and 30%, which is much worse. Again visually, our result looks much more accurate.