Here is a quick 4 step planning meeting process based on planning poker:
1. Pick story from backlog, explain in a couple minutes what do you think would take to implement it.
2. Team members pick an estimate of the effort.
3. If there is consensus, note estimate on story, pick next, goto 1.
4. If there is no consensus on estimate, have highest and lowest explain why they picked their estimate, goto 2.
If you are expending more than 5 minutes on a story and there is no estimate, push it down and move on. It's not ready for development. The whole planning meeting should not take more than 1 hr.
This process, allows everybody involved in development to have an idea of the overall project and chip in with their experience to impact estimates (this might require refactoring class X, it might be hard to test, will conflict with Y and Z, etc)