An apparatus and method for data fusion between heterogeneous sensors are disclosed. The data fusion method between heterogeneous sensors includes the steps of identifying image data and point cloud data for a search area through each of a camera sensor and a LiDAR sensor calibrated using a marker board in which a hole exists; Recognizing a conversion vector determined through calibration of the camera sensor and lidar sensor; And fusing the identified image data and point cloud data by projecting the cloud data of the lidar sensor to the image data of the camera sensor using the recognized conversion vector.
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