Abstract: An object tracking apparatus and method are provided. The object tracking apparatus includes a sensor device that obtains surrounding information of a vehicle and a processor that tracks an object outside the vehicle based on the surrounding information obtained by the sensor device. The processor generates a grid map based on the surrounding information, deep-learns the grid map to obtain a classification object, detects an occupancy grid from the grid map and obtains a grid object based on clustering the occupancy grid, and fuses the classification object with the grid object to track the object.