A computer-implemented method for generating a map for a robot, the method comprising the steps of: generating a raw map on the basis of distance data acquired by measuring at least one object using a sensor capable of generating a point cloud; identifying pixels estimated to be a moving obstacle, pixels estimated to be noises, and pixels estimated to be a fixed obstacle (420, 520, 620) in the raw map, on the basis of colors of pixels specified in the raw map and sizes of areas associated with the pixels; performing dilation and erosion operations on the pixels estimated to be the moving obstacle, and determining a polygon-based contour (410, 510, 610) of the moving obstacle; and removing the pixels estimated to be the noises from the raw map, wherein the colors of pixels specified in the raw map are determined in a gray scale according to the distance data, such that darker pixels are associated with an area where a real world object is more likely to be located, wherein the colors of pixels specified in the raw map are classified into white, gray, and black, and wherein the identifying step comprises the steps of: connecting gray pixels and black pixels that are adjacent to each other among gray pixels and black pixels in the raw map to form an area, and if the area has a size less than or equal to a first threshold size, identifying the pixels in the area as the pixels estimated to be the noises; connecting black pixels that are adjacent to each other among black pixels in the raw map to form an area, and if the area has a size greater than the first threshold size and less than or equal to a second threshold size, identifying the pixels in the area as the pixels estimated to be the moving obstacle; and connecting black pixels that are adjacent to each other among black pixels in the raw map to form an area, and if the area has a size greater than the second threshold size, identifying the pixels in the area as the pixels estimated to be the fixed obstacle. generating a raw map on the basis of distance data acquired by measuring at least one object using a sensor capable of generating a point cloud; identifying pixels estimated to be a moving obstacle, pixels estimated to be noises, and pixels estimated to be a fixed obstacle (420, 520, 620) in the raw map, on the basis of colors of pixels specified in the raw map and sizes of areas associated with the pixels; performing dilation and erosion operations on the pixels estimated to be the moving obstacle, and determining a polygon-based contour (410, 510, 610) of the moving obstacle; and removing the pixels estimated to be the noises from the raw map, wherein the colors of pixels specified in the raw map are determined in a gray scale according to the distance data, such that darker pixels are associated with an area where a real world object is more likely to be located, wherein the colors of pixels specified in the raw map are classified into white, gray, and black, and wherein the identifying step comprises the steps of: connecting gray pixels and black pixels that are adjacent to each other among gray pixels and black pixels in the raw map to form an area, and if the area has a size less than or equal to a first threshold size, identifying the pixels in the area as the pixels estimated to be the noises; connecting black pixels that are adjacent to each other among black pixels in the raw map to form an area, and if the area has a size greater than the first threshold size and less than or equal to a second threshold size, identifying the pixels in the area as the pixels estimated to be the moving obstacle; and connecting black pixels that are adjacent to each other among black pixels in the raw map to form an area, and if the area has a size greater than the second threshold size, identifying the pixels in the area as the pixels estimated to be the fixed obstacle. connecting gray pixels and black pixels that are adjacent to each other among gray pixels and black pixels in the raw map to form an area, and if the area has a size less than or equal to a first threshold size, identifying the pixels in the area as the pixels estimated to be the noises; connecting black pixels that are adjacent to each other among black pixels in the raw map to form an area, and if the area has a size greater than the first threshold size and less than or equal to a second threshold size, identifying the pixels in the area as the pixels estimated to be the moving obstacle; and connecting black pixels that are adjacent to each other among black pixels in the raw map to form an area, and if the area has a size greater than the second threshold size, identifying the pixels in the area as the pixels estimated to be the fixed obstacle.