A method for rapidly building image space relation using plane filtering limitation is provided. The method comprises first getting a plurality of continuous image data taken from different shooting angles. Then, a plurality of feature points of the image data is initialized. Next, a number of feature points of those image data is randomly extracted and compared to determine whether the compared feature points are coplanar or not. When the selected feature points are not coplanar, an epipolar fundamental matrix is calculated according to the selected feature points. On the contrary, when the selected feature points are coplanar, a medium error value for all the feature points is set as a maximum value.