METHOD AND APPARATUS WITH GLOBAL LOCALIZATION

A method with global localization includes: extracting a feature by applying an input image to a first network; estimating a coordinate map corresponding to the input image by applying the extracted feature to a second network; and estimating a pose corresponding to the input image based on the estimated coordinate map, wherein either one or both of the first network and the second network is trained based on either one or both of: a first generative adversarial network (GAN) loss determined based on a first feature extracted by the first network based on a synthetic image determined by three-dimensional (3D) map data and a second feature extracted by the first network based on a real image; and a second GAN loss determined based on a first coordinate map estimated by the second network based on the first feature and a second coordinate map estimated by the second network based on the second feature.