1. A method, comprising: identifying, by one or more computing devices, a plurality of features in one or more two-dimensional images; matching, by the one or more computing devices, at least some of the plurality of features of the one or more two-dimensional images with features of one or more neighboring two-dimensional images; calculating, by the one or more computing devices, a location for each of the matched features, the calculating resulting in a cloud of points in three-dimensional space; estimating, by the one or more computing devices, at least one facade plane based on the cloud of points; estimating, by the one or more computing devices, at least one street plane based on a location of a street, the street being associated with given ones of the one or more two-dimensional images; and forming, by the one or more computing devices, a three-dimensional model from the at least one estimated facade plane and the at least one estimated street plane, the three-dimensional model corresponding to one or more objects shown in the two-dimensional images.