Real-time three-dimensional (3D) map building method and device using a 3D lidar includes representing 3D map data of a surrounding environment acquired by using a 3D lidar attached to a moving object as voxels, acquiring an eigenvalue and an eigenvector for each voxel based on all 3D points in a 3D map represented as the voxels, detecting a 3D corresponding point in the voxel corresponding to all the 3D points of 3D data newly acquired by using the 3D lidar while the moving object travels, calculating a rotation transformation and a translation transformation for minimizing an error by minimizing an inner product value between the eigenvector weighted by the eigenvalue of the voxel to which the 3D corresponding point belongs and a vector generated from a 3D corresponding point, and updating the 3D map data based on the rotation transformation and the translation transformation.
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