The present invention relates to a light detecting and ranging (LiDAR) device for obtaining information on a distance from an object using laser light. A light detection and ranging (LiDAR) device according to the present invention may include: a laser emitting unit configured to emit a laser, a first scanner configured to obtain the laser emitted by the laser emitting unit and continuously change a travel path of the laser so as to extend a irradiation area to a line shape, a second scanner configured to obtain and continuously changes the travel path of the laser projected from the first scanner which has a line-shaped irradiation area, so as to extend the irradiation area to a plane shape, and a sensor configured to detect a laser reflected from an object located in a scanning area by the laser projected from the second scanner, wherein the first scanner comprises nodding mirror which extend the irradiation area to a line shape by changing a travel path of the laser while nodding within a preset angle range, and wherein the second scanner comprises a rotating polygon mirror which changes the travel path of the laser which has the line-shaped irradiation area by rotating on one axis so as to extend the irradiation area to a plane shape.