In this paper, we present an effective method for integrating 3D augmented reality graphics into single images taken in urban environments. Building facades usually contain a large number of parallel lines aligned along several principal directions. We make use of the images of these 3D parallel lines and their corresponding vanishing points to recover a number of 3D planes from single 2D images of urban environments and then use them to represent the spatial layout of a scene. 3D objects are then aligned with respect to these recovered planes to achieve realistic augmented reality effects. In experiments we applied the proposed method to implement augmented reality in images from a benchmark image dataset of urban environments. Â© 2011 IEEE.