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First, a mathematical model is constructed to prove that slanted surfaces in the environment have corresponding slanted disparity surfaces in the disparity space image, and the model is to help find the proper plane parameters of slanted support windows, then improved cost aggregation and post\u2010processing methods are proposed. The algorithm is tested using the Middlebury and Karlsruhe Institute of Technology and Toyota Technical Institute at Chicago (KITTI) benchmarks. 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