1. A method for processing extracted plane features, the method comprising: estimating an area of each plane of a plurality of planes extracted from data collected by an imaging sensor; generating a list of detected planes that includes the area of each plane of the plurality of planes; filtering the list of detected planes to produce a list of candidates for merger, where filtering the list of detected planes discards any plane not satisfying an actual points received criteria; applying a primary merge algorithm to the list of candidates for merger, wherein the primary merge algorithm iteratively produces a list of merged planes by testing hypothetical merged planes against a merging criteria, wherein the hypothetical merged planes each comprise a first plane from the list of merged planes and a second plane from the list of candidates for merger; and outputting a final list of planes based on the output of the primary merge algorithm.