From my understanding of Literature, there should not really be a difference between the writing of Poetry and Novel.
Sure, the way of presentation, as in the form, might be different, but ultimately, it is still the creation of a world of imagination made by the author using words.
Contrary to Art, in this case restricted to the Graphical Art, a Poem and a Novel are both piece of art which attain meaning through the use of vocabulary. Unless you are going for some real modern poetry (like Concrete Poetry, where you are going to be making meaning through both the use of words and the place of these words in the selected medium) placing poetry alongside graphic art would be, to say the least, weird.
Of course, the somewhat abstract nature of poetic language can still pose a challenge for the average reader, but Novels do not have to restrict themselves in their use of poetic language, even not presenting poetic language in the form of "poems" anyway...
The days we live today are days when there is no definition between what is a what anyway. People who try to separate things, this is poetry, this is novel, this is romance, this action, are confusing things more often than not...