Methods and systems for feature extraction of LIDAR surface manifolds. LIDAR point data with respect to one or more LIDAR surface manifolds can be generated. An AHAH-based feature extraction operation can be automatically performed on the point data for compression and processing thereof. The results of the AHAH-based feature extraction operation can be output as a compressed binary label representative of the at least one surface manifold rather than the point data to afford a high-degree of compression for transmission or further processing thereof. Additionally, one or more voxels of a LIDAR point cloud composed of the point data can be scanned in order to recover the compressed binary label, which represents prototypical surface patches with respect to the LIDAR surface manifold(s).