A system comprises a LiDAR sensor and a processor coupled to the LiDAR. The processor is configured to derive a regression line, and generate the outline of the static object by connecting the classified valid points except for the classified removal points. Wherein the processor is further configured to calculate an angle defined by one segment and another segment adjacent to the segment, select an i-lth point, which is a start point of a segment including an ith point, as a start point, when an angle between segments at both sides with respect to the ith point is greater than the reference angle, and select a jth point as an end point, when an angle between segments at both sides with respect to the jth point is less than or equal to the reference angle and when there is the start point before the jth point.