a light detection and ranging (LiDAR) sensor configured to acquire a point cloud for the vehicle; and

a processor configured to:

control the vehicle;

process a speed and a yaw rate of the vehicle received from an inertial measurement unit (IMU);

estimate motion information of the vehicle;

estimate ground plane information of the LiDAR sensor; and

update pose parameters of the vehicle based on at least one of the estimated motion information, the estimated ground plane information, the processed speed and yaw rate of the vehicle by performing one or more selected from a group of calibration operations, the group of calibration operations including:

in response to the speed of the vehicle being less than or equal to a first specific speed, updating z-axis information in a Cartesian coordinate system, roll information, and pitch information about the Cartesian coordinate system among the pose parameters of the vehicle,

in response to the vehicle rectilinearly traveling, and the roll information and the pitch information being available, updating yaw information among the pose parameters of the vehicle;

in response to the vehicle turning at a speed greater than or equal to a second specific speed and the roll information, the pitch information, and the yaw information being available, updating x-axis information and y-axis information in the Cartesian coordinate system among the pose parameters of the vehicle, wherein the first specific speed and the second specific speed are same or different; and

automatically calibrate a pose of the vehicle based on the updated pose parameters.