1. A computer-implemented method for recognizing text in an image, comprising: processing an image to divide the image into one or more regions; detecting one or more features in each region; determining for each region whether it is a candidate text region potentially containing text using the detected features; receiving ranging data associated with the image; generating a planar map of the image using the ranging data; comparing the candidate text regions with the planar map; eliminating candidate text regions that are not located on a single plane; enhancing the candidate text regions that were not eliminated to generate an enhanced image; and performing optical character recognition on the enhanced image.