LANDMARK LOCATION ESTIMATION APPARATUS AND METHOD, AND COMPUTER-READABLE RECORDING MEDIUM STORING COMPUTER PROGRAM PROGRAMMED TO PERFORM METHOD

In accordance with an aspect of the present disclosure, there is provided a landmark position estimating method performed by a landmark position estimating apparatus. The method comprises, identifying a first type landmark and a second type landmark from an image, captured by an image capturing device of a vehicle, including various landmarks on a driving route, estimating a three-dimensional position of the identified first type landmark based on a plurality of the images on which the first type landmark is identified and a digital map including a driving area of the vehicle, and estimating a position of the identified second type landmark on a virtual plane including the three-dimensional position of the first type landmark.