| Subtask | |
| -------- | |
| Dilation SE3 | |
| Dilation SE7 | |
| Erosion SE3 | |
| Erosion SE7 | |
| Iterate 3 Dilation SE4 | |
| Iterate 3 Erosion SE4 | |
| Subtask | |
| -------- | |
| Dilation SE3 | |
| Dilation SE3 | |
| Erosion SE3 | |
| Erosion SE3 | |
| Iterate 3 Dilation SE4 | |
| Iterate 3 Erosion SE4 | |
| Subtask | |
| -------- | |
| Dilation SE3 | |
| Dilation SE5 | |
| Erosion SE3 | |
| Erosion SE5 | |
| Iterate 3 Dilation SE4 | |
| Iterate 3 Erosion SE4 | |