An object-tracking method using a LiDAR sensor may include forming a first inclination using GPS altitude points of a vehicle driving region, detecting a driving lane using LiDAR points of a vehicle and determining a second inclination using the detected driving lane, rotating the GPS altitude points using the first inclination and the second inclination, obtaining a third inclination using a target point and a neighboring point, among the LiDAR points, the neighboring point belonging to a previous layer adjacent to a current layer to which the target point belongs, obtaining a fourth inclination using points that match the LiDAR points, among the rotated GPS altitude points, and determining the target point to be a ground point when the absolute value of the difference between the third inclination and the fourth inclination is less than a threshold inclination.