1. An apparatus for plane detection, comprising: an image divider, including at least one processing device, configured to divide an input depth image into a plurality of patches; a plane model estimator configured to calculate a plane model for each of the plurality of patches; and a patch merger configured to compare plane models of each of the plurality of patches, detect that two or more patches of the plurality of patches comprise plane models with a similarity greater than or equal to a first threshold, and iteratively merge the detected two or more patches by verifying whether a number of plane hypotheses in a previous iterative operation is equal to a number of plane hypotheses in the present operation, wherein a plane hypothesis is an estimate of a plane model.