LIDAR APPARATUS, METHOD FOR PROCESSING SIGNAL OF THE SAME AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM STORING PROGRAM FOR PERFORMING THE METHOD

A lidar apparatus is disclosed. The lidar apparatus according to an embodiment of the present disclosure includes an optical transmitter configured to transmit a laser light for external detection; an optical receiver configured to receive the laser light reflected from the external; and a signal processor configured to detect the laser light received by the optical receiver, wherein the signal processor may be configured to: generate information including coordinates of a plurality of points including at least one point on a rising edge, a start point of a peak, an end point of the peak, and at least one point on a falling edge of a received waveform of the laser light reflected from the external arbitrary area as pixel information about a pixel corresponding to the arbitrary area, and classify the pixel according to whether the start point of the peak and the end point of the peak are the same.