Object Recognition Apparatus And Method Thereof

An apparatus for recognizing an object and a method thereof are provided. The apparatus may comprise a sensor, a memory configured to store reference grid maps representing an appearance of a vehicle, and a processor configured to project a plurality of points indicating an external object, obtained by the sensor, onto a first surface to obtain a first grid map including a first plurality of grids, project the plurality of points indicating the external object onto a second surface to obtain a second grid map including a second plurality of grids, determine, based on at least one of the reference grid maps, the first grid map, or the second grid map, a type of the external object, and output a signal indicating the type of the external object.