  We present an approach for the planar surface reconstruction of a scene from
images with limited overlap. This reconstruction task is challenging since it
requires jointly reasoning about single image 3D reconstruction, correspondence
between images, and the relative camera pose between images. Past work has
proposed optimization-based approaches. We introduce a simpler approach, the
PlaneFormer, that uses a transformer applied to 3D-aware plane tokens to
perform 3D reasoning. Our experiments show that our approach is substantially
more effective than prior work, and that several 3D-specific design decisions
are crucial for its success.
