1. A system for producing a classifier for recognizing an obstacle, comprising: a processor configured to: display surface data of a plurality of obstacles measured by a distance measurement sensor in a two-dimensional (2D) coordinate system; group and classify the surface data displayed in the 2D coordinate system for each obstacle; project the surface data of each obstacle vertically to a ground surface coordinate system having an X-Y axis parallel to a ground surface; set a plurality of feature references to analyze region based features displayed for each obstacle in the 2D coordinate system and calculate the respective feature references for each obstacle; and produce the classifier by applying a weight to each of the feature references.