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Pixel-wise Planarity for High-Precision Monocular Plane Segmentation

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Plane segmentation from a single RGB image remains challenging due to imprecise region grouping and geometrically inconsistent supervision, often leading to over-segmentation and false planar detections. We propose instead a pixel-wise planarity prediction framework for robust monocular plane segmentation. Building on a pretrained monocular geometric backbone predicting depth and surface normals, we introduce a dedicated planarity head that estimates per-pixel planarity confidence. During inference, predicted depth, normals, and planarity are combined in a lightweight region-growing procedure

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