Plane detection in disparity space

We report an algorithm for detecting planes from disparity maps, without computing 3D information explicitly. Camera calibration is not assumed unless Euclidean plane parameters are required. The algorithm identifies co-planar image patches, thus providing a useful tools in the presence of occlusions. The basic components are a closed-form expression for the disparity of a plane, and a Hough-like voting scheme for plane identification. Experimental results with real data suggest promising performance, comparable with that of recently reported plane detection methods.