In accordance with an aspect of the present disclosure, there is provided a method for acquiring coordinate system conversion information, the method comprising: acquiring three-dimensional information including first lane information corresponding to a lane adjacent to a vehicle, through a LiDAR installed at the vehicle, and a surrounding image including second lane information corresponding to the lane, through a camera installed at the vehicle; acquiring first coordinate system conversion information on the LiDAR and the camera by matching the second lane information with the first lane information; and acquiring second coordinate system conversion information on the vehicle and the camera by using top view image conversion information acquired based on the surrounding image, and the driving direction of the vehicle.