Abstract: An embodiment method of determining moving and stationary states of an object using a lidar sensor includes determining a type of object after assigning a score to object information obtained through object tracking, the score based on a score table in which scores are set according to characteristics of a dynamic object and a static object, and determining that the object is in a stationary state when the object is determined to be the static object, and determining whether the object is in a moving state or in the stationary state based on object tracking information on the object when the object is determined to be the dynamic object.

Abstract: An apparatus for tracking an object based on a LiDAR sensor and a method therefor are provided. The apparatus includes a LiDAR sensor that generates point cloud data around an autonomous vehicle and a controller that detects objects based on the point cloud data and selects valid objects among the detected objects as targets to be tracked.