A method for extracting uniform features of at least one object, from a point cloud of an environment, includes acquiring the point cloud associated with the environment having the at least one object, wherein the point cloud is associated with a volume comprising a plurality of points; segmenting the point cloud into at least one sub-volume corresponding to each of the at least one object; applying a non-uniform transform on each of the plurality of points corresponding to each of the at least one sub-volume, to obtain a transform coefficient for each of the plurality of points; and selecting a subset of the plurality of transform coefficients as the extracted uniform features of the at least one object within the environment.