Apparatus for controlling vehicle and method thereof

Abstract

The present disclosure relates to a vehicle control apparatus and a method thereof. The vehicle control apparatus may include a memory in which neural network models are stored, a light detection and ranging (LiDAR) device, a camera, and a processor. The processor may obtain a first point cloud, generate a first sparse depth map based on the first point cloud, generate segmentation information by classifying a type of at least one pixel included in an image, generate a second point cloud by forming virtual points corresponding to a ground included in a blind spot of the LiDAR; generate a second sparse depth map and a third sparse depth map, generate a first dense depth map and a second dense depth map, train a second neural network model based on the second dense depth map, and control a vehicle based on the second dense depth map.