1. A method for detecting one or more planar surfaces within a physical environment, the method comprising: obtaining a collection of three-dimensional surface points of a physical environment via an optical sensor subsystem; sampling a plurality of polygon sets of points within the collection, each polygon set of points including three or more localized points of the collection defining a polygon; classifying each polygon into one or more groups of polygons, each group of polygons having a shared planar characteristic with each other polygon of that group, the shared planar characteristic including a depth and/or an orientation of the polygons of that group; identifying one or more planar surfaces within the collection such that each planar surface is at least partially defined by a group of polygons containing at least a threshold number of polygons.