A light detection and ranging, LiDAR, device comprising: a transmitter configured to transmit light as a transmission signal toward an object and further configured to transmit a part of the transmission signal to a converter; the converter configured to convert the part of the transmission signal into a digital transmission signal and a received signal reflected from the object into a digital received signal, according to a predetermined sampling period; and at least one processor configured carry out the following steps: interpolate between elements of the digital transmission signal and the digital received signal that have the predetermined sampling period, to obtain an interpolated transmission signal and an interpolated received signal; remove noise from each of the interpolated transmission signal and the interpolated received signal; generate a cross-correlation signal between the interpolated transmission signal from which the noise is removed and the interpolated received signal from which the noise is removed; detect a first peak value having a largest absolute value among peak values of the cross-correlation signal; detect a second peak value having a second largest absolute value among the peak values of the cross-correlation signal, and determine a quality of the cross-correlation signal based on the absolute value of the first peak value and the absolute value of the second peak value; generate a point cloud based on the cross-correlation signal having a quality that is greater than or equal to a predetermined reference quality, and acquire a three-dimensional, 3D, image of the object based on the generated point cloud. a transmitter configured to transmit light as a transmission signal toward an object and further configured to transmit a part of the transmission signal to a converter; the converter configured to convert the part of the transmission signal into a digital transmission signal and a received signal reflected from the object into a digital received signal, according to a predetermined sampling period; and at least one processor configured carry out the following steps: interpolate between elements of the digital transmission signal and the digital received signal that have the predetermined sampling period, to obtain an interpolated transmission signal and an interpolated received signal; remove noise from each of the interpolated transmission signal and the interpolated received signal; generate a cross-correlation signal between the interpolated transmission signal from which the noise is removed and the interpolated received signal from which the noise is removed; detect a first peak value having a largest absolute value among peak values of the cross-correlation signal; detect a second peak value having a second largest absolute value among the peak values of the cross-correlation signal, and determine a quality of the cross-correlation signal based on the absolute value of the first peak value and the absolute value of the second peak value; generate a point cloud based on the cross-correlation signal having a quality that is greater than or equal to a predetermined reference quality, and acquire a three-dimensional, 3D, image of the object based on the generated point cloud. interpolate between elements of the digital transmission signal and the digital received signal that have the predetermined sampling period, to obtain an interpolated transmission signal and an interpolated received signal; remove noise from each of the interpolated transmission signal and the interpolated received signal; generate a cross-correlation signal between the interpolated transmission signal from which the noise is removed and the interpolated received signal from which the noise is removed; detect a first peak value having a largest absolute value among peak values of the cross-correlation signal; detect a second peak value having a second largest absolute value among the peak values of the cross-correlation signal, and determine a quality of the cross-correlation signal based on the absolute value of the first peak value and the absolute value of the second peak value; generate a point cloud based on the cross-correlation signal having a quality that is greater than or equal to a predetermined reference quality, and acquire a three-dimensional, 3D, image of the object based on the generated point cloud.