VEHICLE POSITION ESTIMATION DEVICE, VEHICLE POSITION ESTIMATION METHOD, AND COMPUTER-READABLE RECORDING MEDIUM FOR STORING COMPUTER PROGRAM PROGRAMMED TO PERFORM SAID METHOD

In accordance with an aspect of the present disclosure, there is provided a vehicle position estimation method. The method comprises, obtaining a landmark-based initial position information of a camera by matching a landmark in a high definition map corresponding to a GPS-based initial position information of a vehicle to an image obtained by the camera of the vehicle, and obtaining estimated position information of the vehicle by comparing the image with a landmark in the high definition map corresponding to each of a plurality of candidate position information sampled based on the landmark-based initial position information of the camera.