The invention provides a three dimensional plane extraction method. The input of the technical scheme is that any method is used for obtaining a three dimensional line feature set and a sparse digitalelevation model data in a target scene, obtaining stereo image of a target scene from two different visual angles and obtaining all the inner parameters and the outer parameters of the stereoscopic camera as well as the line extracting result of the stereo image; the output of the technical scheme is the three dimensional plane with high positioning precision and favorable boundary integrity andaccuracy. In the treating process of the technical scheme, the positioning of the three dimensional plane and the extraction and separation of the plane zone boundary are divided into two stages whichare connected for independently finishing two tasks and reducing error impact between the two tasks, which causes the results of the two stages to be respectively optimal, so that the three dimensional plane extraction is optimal.