According to some embodiments, an imaging processing method for extracting a plurality of planar surfaces from a depth map includes computing a depth change indication map (DCI) from a depth map in accordance with a smoothness threshold. The imaging processing method further includes recursively extracting a plurality of planar region from the depth map, wherein the size of each planar region is dynamically adjusted according to the DCI. The imaging processing method further includes clustering the extracted planar regions into a plurality of groups in accordance with a distance function; and growing each group to generate pixel-wise segmentation results and inlier points statistics simultaneously.