Abstract: The present application provides a method and apparatus for pose planar constraining on the basis of planar feature extraction, wherein the method includes: inputting the acquired RGB color image and point cloud image into spatial transformation network to obtain two-dimensional and three-dimensional affine transformation matrixes; extracting the planar features of the transformed two-dimensional affine transformation matrix and three-dimensional affine transformation matrix; inputting the acquired planar features into the decoder and obtain the pixel classification of the planar features; clustering the vectors corresponding to the planar pixels to obtain the segmentation result of the planar sample; using planar fitted by the segmentation result to make planar constraint to the pose calculated by vision algorithm.