Weconsidertheproblemofestimatingdetailed3Dstructurefromasinglestillimageofanunstructuredenvironment.Ourgoalistocreate3Dmodelsthatarebothquantitativelyaccurateaswellasvisuallypleasing.Foreachsmallhomogeneouspatchintheimage,weuseaMarkovRandomField(MRF)toinferasetof“planeparameter