A processor-implemented method includes, based on an overlapping area between a first sensing range of a first sensor and a second sensing range, of a second sensor, that includes an area occluded to the first sensor by an object in the first sensing range, generating an occupancy map by supplementing information about the occluded area among the first point cloud data based on a corresponding portion of the second point cloud data, wherein an acquisition timepoint of the first point cloud data and an acquisition timepoint of the second point cloud data are a same timepoint or temporally adjacent to each other, wherein the first point cloud data corresponds to the first sensing range of the first sensor from a perspective of the first sensor of a moving object, where the first sensing range corresponds to a surrounding area of the moving object, and wherein the second point cloud data corresponds to the second sensing range of the second sensor that is remote from the first sensor, where the second sensing range corresponds to a surrounding area of the second sensor.