1. An apparatus for extracting feature information of environmental objects, comprising: a sensor to detect light reflected from the environmental objects to acquire distance information and remission information regarding the environmental objects; a corner detector to detect corner information regarding the environmental objects using the remission information; a plane detector to detect planar patch information using the corner information and distance information of surroundings corresponding to a corner; and a reflection function detector to detect a reflection function of the planar patch using the remission information depending on angle of light incident on the planar patch.