1. A computer-implemented method to select planes that are used to render a navigable three-dimensional scene from a collection of images stored in an electronic database, the computer-implemented method comprising: receiving the collection of images from the electronic database; extracting scene information from the collection of images; detecting vanishing directions within each image in the collection of images using edge detection and two-dimensional line segment extraction; identifying each plane in the navigable three-dimensional scene based on the vanishing directions and the scene information; and generating a Markov Random Field distribution to assign pixels to each plane based on minimization functions applied to the Markov Random Field distribution to optimize a global cost of assigning the pixel to a plane in the navigable three-dimensional scene.