Electronic apparatus and controlling method thereof

A controlling method of an electronic apparatus that includes a LiDAR sensor, the controlling method comprising:

• based on occurrence of a predetermined event, controlling the LiDAR sensor to sense a space with a sensing direction of the LiDAR sensor corresponding to a predetermined angle, so that the LiDAR sensor thereby obtains first sensing data;
• after controlling the LiDAR sensor to sense the space with the sensing direction of the LiDAR sensor corresponding to the predetermined angle, controlling the sensing direction of the LiDAR sensor to be changed sequentially so that the LiDAR sensor thereby obtains a plurality of second sensing data respectfully corresponding to the sequentially changed sensing direction;
• and
• obtaining a depth map including distance information of the space based on the first sensing data and the plurality of second sensing data.

A non-transitory computer-readable recording medium storing computer instructions which, when executed by a processor of an electronic apparatus that includes a LiDAR sensor, cause the electronic apparatus to perform operations comprising:

• based on occurrence of a predetermined event, controlling the LiDAR sensor to sense a space with a sensing direction of the LiDAR sensor corresponding to a predetermined angle, so that the LiDAR sensor thereby obtains first sensing data;
• after controlling the LiDAR sensor to sense the space with the sensing direction of the LiDAR sensor corresponding to the predetermined angle, controlling the sensing direction of the LiDAR sensor to be changed sequentially so that the LiDAR sensor thereby obtains a plurality of second sensing data respectively corresponding to the sequentially changed sensing direction;
• and
• obtaining a depth map including distance information of the space based on the first sensing data and the plurality of second sensing data.