1. A method of detecting and describing features from an intensity image, comprising: obtaining a 2D intensity image captured by a capturing device; determining a depth of at least one element in the 2D intensity image based on light reflected from the at least one element; scaling a size of a support region covering a portion of the 2D intensity image according to the determined depth; detecting a feature in the 2D intensity image based on image intensity information of the support region; and providing a feature descriptor of the detected feature, wherein the scale at which the feature is detected depends on a depth sample for the support region.