A system for determining plane similarity, the system comprising: a sensor configured to capture a scene and acquire a plurality of frames of two or three dimensional data representing the scene; and a processing unit coupled to the sensor, the processing unit configured to process the plurality of frames of data, wherein the processing unit is further configured to store the plurality of frames of data on at least one memory device; read a first frame of data from the plurality of frames stored on the at least one memory device; read a second frame of data from the plurality of frames stored on the at least one memory device; extract a first plane from the first frame of data; extract a second plane from the second frame of data; and calculate a divergence between the first plane and the second plane, wherein the divergence is a statistical distance between probability distribution representations of the first plane and the second plane, and wherein the probability distribution representations of the first plane and the second plane represent probability distributions of points comprised in the first plane and the second plane, the points characterized by normal vectors and orthogonal distance that are respectively acquired from the extracted first plane and the extracted second plane. a sensor configured to capture a scene and acquire a plurality of frames of two or three dimensional data representing the scene; and a processing unit coupled to the sensor, the processing unit configured to process the plurality of frames of data, wherein the processing unit is further configured to store the plurality of frames of data on at least one memory device; read a first frame of data from the plurality of frames stored on the at least one memory device; read a second frame of data from the plurality of frames stored on the at least one memory device; extract a first plane from the first frame of data; extract a second plane from the second frame of data; and calculate a divergence between the first plane and the second plane, wherein the divergence is a statistical distance between probability distribution representations of the first plane and the second plane, and wherein the probability distribution representations of the first plane and the second plane represent probability distributions of points comprised in the first plane and the second plane, the points characterized by normal vectors and orthogonal distance that are respectively acquired from the extracted first plane and the extracted second plane. store the plurality of frames of data on at least one memory device; read a first frame of data from the plurality of frames stored on the at least one memory device; read a second frame of data from the plurality of frames stored on the at least one memory device; extract a first plane from the first frame of data; extract a second plane from the second frame of data; and calculate a divergence between the first plane and the second plane, wherein the divergence is a statistical distance between probability distribution representations of the first plane and the second plane, and wherein the probability distribution representations of the first plane and the second plane represent probability distributions of points comprised in the first plane and the second plane, the points characterized by normal vectors and orthogonal distance that are respectively acquired from the extracted first plane and the extracted second plane.