| Subtask | |
| -------- | |
| Dilation SE5 | |
| Dilation SE5 | |
| Erosion SE5 | |
| Erosion SE5 | |
| Iterate 2 Dilation SE3 | |
| Iterate 2 Erosion SE3 | |
| Subtask | |
| -------- | |
| Dilation SE4 | |
| Dilation SE8 | |
| Erosion SE4 | |
| Erosion SE8 | |
| Iterate 2 Dilation SE3 | |
| Iterate 2 Erosion SE3 | |
| Subtask | |
| -------- | |
| Dilation SE3 | |
| Dilation SE3 | |
| Erosion SE3 | |
| Erosion SE3 | |
| Iterate 2 Dilation SE3 | |
| Iterate 2 Erosion SE3 | |