Manhattan world are referred to manmade structures with planar surfaces. In many applications such as robot navigation or mapping it is vital to have a 3D perception of such environments. In this work a novel methodology is presented to perceive slant surfaces implemented on 3D point clouds. Using an enhanced Ncut clustering technique, the point cloud is classified into a number of clusters. To automatically perceive the existence of planes, a series of algorithms are implemented which consist of LS fitting, pruning and RANSAC. Experiments were carried out in MATLAB for both simulated data...