  Man-made environments typically comprise planar structures that exhibit
numerous geometric relationships, such as parallelism, coplanarity, and
orthogonality. Making full use of these relationships can considerably improve
the robustness of algorithmic plane reconstruction of complex scenes. This
research leverages a constraint model requiring minimal prior knowledge to
implicitly establish relationships among planes. We introduce a method based on
energy minimization to reconstruct the planes consistent with our constraint
model. The proposed algorithm is efficient, easily to understand, and simple to
implement. The experimental results show that our algorithm successfully
reconstructs planes under high percentages of noise and outliers. This is
superior to other state-of-the-art regularity-constrained plane reconstruction
methods in terms of speed and robustness.
