Method for object processing and vehicle supporting the same

A vehicle for supporting an object processing, the vehicle comprising:

• a lidar sensor configured to collect multi-layer data corresponding to sensor information for a lateral surface for each vertical interval;
• and
• a controller configured to classify objects by clustering each layer for the multi-layer data, extract contours and shapes of the objects and then control a convergence of the objects based on a calculated value of a Mahalanobis distance between the clustered objects,
• wherein the controller checks whether or not the objects are overlapped and calculates the Mahalanobis distance in a case in which the objects are overlapped, and
• wherein the controller converges two objects used for the Mahalanobis distance calculation in a case in which the Mahalanobis distance is equal to or less than a reference value and classifies the two objects into different objects in a case in which the Mahalanobis distance is larger than the reference value.