Structured scenes are an important element of 3D reconstruction. Characteristics of structured scenes are analyzed, based on which a modified PEaRL algorithm is proposed to perform plane fitting on points provided by multiple view stereo algorithms. In this method, candidate planes are generated from both 3D lines and 3D points. The number of candidate planes is reduced using information provided by the 3D lines; furthermore, the reliability of the planes is improved. Subsequently, 3D lines are employed to obtain a more reliable neighborhood system, which leads to more accurate plane fitting results at plane intersections. For energy optimization, the smoothness term and label cost term are improved to better manage the irregularity of multi-view stereo(MVS)point clouds. Experiments on synthesized and actual data show that the proposed method provides satisfactory time efficiency, and obtains more reliable plane fitting results than other multi-model fitting methods, including PEaRL.