1. A system for identifying corresponding segments in different 3D data frames, the system comprising: at least one 3D data sensor configured to acquire a plurality of frames of data from an environment containing the at least one 3D data sensor, wherein the plurality of frames of data provide three-dimensional range and image information of a portion of the environment; a processing unit configured to receive the plurality of frames of data from the sensor, wherein the processing unit is configured to: identify a first segment set in a first frame of data in the plurality of frames of data, wherein the first segment set includes segments identified through segmentation of the first frame of data; identify a second segment set in a second frame of data in the plurality of frames of data, wherein the second segment set includes segments identified through segmentation of the second frame of data; calculate a first set of descriptor vectors, wherein the first set of descriptor vectors comprises a descriptor vector for each segment in the first segment set, wherein a descriptor vector describes a plurality of segment characteristics, wherein each characteristic is indexed within the descriptor vector; calculate a second set of descriptor vectors, wherein the second set of descriptor vectors comprises a descriptor vector for each segment in the second segment set; and identify a set of corresponding segments by comparing the first set of descriptor vectors against the second set of descriptor vectors, wherein corresponding segments describe at least one characteristic of the same feature in the environment.