APPARATUS FOR ASSISTING DRIVING OF VEHICLE AND METHOD THEREOF

Provided is an apparatus for assisting driving of a vehicle, the apparatus including: a camera mounted on the vehicle and configured to have a front field of view of the vehicle and acquire image data; a lidar mounted on the vehicle and configured to have a front-side field of view of the vehicle and acquire lidar data; and a controller configured to process at least one of the image data or the lidar data, wherein the controller includes a calibration matrix for correcting the image data and the lidar data and is configured to: obtain a feature map of the image data and a feature map of the lidar data using machine learning; correct the calibration matrix based on a difference between the feature map of the image data and the feature map of the lidar data; and correct the image data and the lidar data using the corrected calibration matrix.