We have presented a system for automatic facade detection,
segmentation, and parameter estimation in the domain of
stereo-equipped mobile platforms. We have introduced a discriminative
model that leverages both appearance and disparity
features for improved classification accuracy. From the disparity
map, we generate a set of candidate planes using RANSAC
with a planar model that also incorporates local PCA estimates
of plane normals. We combine these in a two-layer Markov