According to an embodiment of the present invention, a three-dimensional (3D) mapping method and a device thereof are provided. An objective of the present invention provides a 3D mapping method capable of performing 3D mapping in real-time by using 3D LiDAR while moving. To this end, according to an embodiment of the present invention, a 3D mapping method comprises the steps of: performing voxel representation of 3D map data of a surrounding environment wherein the data is acquired using 3D LiDAR attached to a moving object; acquiring eigenvalues and eigenvectors for individual voxels based on all 3D points represented by the individual voxels in a 3D map; detecting 3D correspondence points in the voxels corresponding to all 3D points newly acquired using the 3D LiDAR while the moving object moves; obtaining rotation conversion and translation conversion, by which an error is minimized, using eigenvalues and eigenvectors of the voxels to which the 3D correspondence points belong; and updating the 3D map data based on the rotation conversion and the translation conversion.
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