1. A method for three-dimensional (3D) feature detection, comprising: receiving a 3D surface map, wherein the 3D surface map includes a plurality of points having 3D coordinates; generating one or more subsets of the plurality of points of the 3D surface map; processing the 3D surface map to detect a 3D feature within one or more of the subsets; generating 3D feature data for one or more of the 3D features detected in the 3D surface map, wherein the 3D feature data includes 3D location data.