Detecting coplanar feature points in handheld image sequences

3D reconstruction applications can benefit greatly from knowledge about coplanar feature points. Extracting this knowledge from images alone is a difficult task, however. The typical approach to this problem is to search for homographies in a set of point correspondences using the RANSAC algorithm. In this work we focus on two open issues with a blind random search. First, we enforce the detected planes to represent physically present scene planes. Second, we propose methods to identify cases, in which a homography does not imply coplanarity of feature points. Experiments are performed to show applicability of the presented plane detection algorithms to handheld image sequences.