A method for finding planar faces in sets of range data images is described. First, the object points are extracted from the range data image (or images). These are then organized in a k-d tree using the x, y and z values as keys. From the k-d tree a spatial proximity graph is efficiently constructed. Finally, a set of seed points for a possible face is chosen, and the spatial proximity graph is used to guide the search for neighboring points lying on this face.