A Light Detection And Ranging, LiDAR, device comprising: a light scanner configured to periodically scan a region in a surrounding area by sequentially changing a traveling path of incident light; a first light source configured to provide first light (L 1 ) to the light scanner in a first incidence direction; a second light source configured to provide second light (L 2 ) to the light scanner in a second incidence direction different from the first incidence direction; a light receiver configured to detect third light reflected in the region of the surrounding area from the first light, and fourth light reflected in the region of the surrounding area from the second light; and a processor configured to obtain a frame comprising a collection of measurement points including depth information of the region of the surrounding area by using a result of detection from the light receiver, wherein the light scanner is further configured to scan the region in the surrounding area a plurality of times using the first light and second light during one scan period of the light scanner, the light scanner scanning the entire scan range of the region in the surrounding area with the first light during one scan period of the light scanner, and the light scanner scanning the entire scan range of the region in the surrounding area with the second light during the one scan period of the Ight scanner; and characterized in that the processor is configured to obtain a first initial frame comprising the depth information of the region of the surrounding area corresponding to the first light during one scan period and a second initial frame comprising depth information of the region of the surrounding area corresponding to the second light during the one scan period in the result of detection from the light receiver, and obtain the frame comprising the depth information of the region of the surrounding area by applying a correlation to the first and second initial frames. a light scanner configured to periodically scan a region in a surrounding area by sequentially changing a traveling path of incident light; a first light source configured to provide first light (L 1 ) to the light scanner in a first incidence direction; a second light source configured to provide second light (L 2 ) to the light scanner in a second incidence direction different from the first incidence direction; a light receiver configured to detect third light reflected in the region of the surrounding area from the first light, and fourth light reflected in the region of the surrounding area from the second light; and a processor configured to obtain a frame comprising a collection of measurement points including depth information of the region of the surrounding area by using a result of detection from the light receiver, wherein the light scanner is further configured to scan the region in the surrounding area a plurality of times using the first light and second light during one scan period of the light scanner, the light scanner scanning the entire scan range of the region in the surrounding area with the first light during one scan period of the light scanner, and the light scanner scanning the entire scan range of the region in the surrounding area with the second light during the one scan period of the Ight scanner; and characterized in that the processor is configured to obtain a first initial frame comprising the depth information of the region of the surrounding area corresponding to the first light during one scan period and a second initial frame comprising depth information of the region of the surrounding area corresponding to the second light during the one scan period in the result of detection from the light receiver, and obtain the frame comprising the depth information of the region of the surrounding area by applying a correlation to the first and second initial frames. <EOS>