Disclosed are a method and device for target plane detection and space estimation, the method comprising the steps of: acquiring scene data; defining a first detection area including a spatially defined subset of the scene data; defining a plane model on the basis of points of a point cloud within the first detection area; defining a plane on the basis of the plane model; determining at least one value of a usable size of the plane on the basis of the points of the point cloud; comparing at least one value of a characteristic size of a digital object with the at least one value of a usable size of the plane; and generating a display, including the digital object positioned on the plane, on the basis of the plane model.