A method of estimating a position, the method comprising: determining (410, 1210) a first rotation reference point (510, 650, 1150) based on localization information estimated for a target (610, 1110, 1120) and map data (501, 1201); estimating (420, 1220) a second rotation reference point (540, 720, 1161) from image data (503, 1001, 1202) associated with a front view of the target (610, 1110, 1120); and correcting the localization information using a rotation parameter calculated based on the first rotation reference point (510, 650, 1150) and the second rotation reference point (540, 720, 1161), CHARACTERISED IN THAT the determining (410, 1210) of the first rotation reference point (510, 650, 1150) further comprises: extracting a candidate area in front of the target from the map data (501, 1201) based on the localization information; spanning a lane boundary line (210, 310, 631, 640, 710) included in the candidate area; and determining a point located beyond a threshold distance from the target (610, 1110, 1120), among points on the spanned lane boundary line (210, 310, 631, 640, 710), to be the first rotation reference point (510, 650, 1150), AND IN THAT the estimating of the second rotation reference point (540, 720, 1161) further comprises detecting the second rotation reference point (540, 720, 1161) from the image data (503, 1001, 1202) based on a vanishing-point detection model (810, 910, 1010, 1203). determining (410, 1210) a first rotation reference point (510, 650, 1150) based on localization information estimated for a target (610, 1110, 1120) and map data (501, 1201); estimating (420, 1220) a second rotation reference point (540, 720, 1161) from image data (503, 1001, 1202) associated with a front view of the target (610, 1110, 1120); and correcting the localization information using a rotation parameter calculated based on the first rotation reference point (510, 650, 1150) and the second rotation reference point (540, 720, 1161), CHARACTERISED IN THAT the determining (410, 1210) of the first rotation reference point (510, 650, 1150) further comprises: extracting a candidate area in front of the target from the map data (501, 1201) based on the localization information; spanning a lane boundary line (210, 310, 631, 640, 710) included in the candidate area; and determining a point located beyond a threshold distance from the target (610, 1110, 1120), among points on the spanned lane boundary line (210, 310, 631, 640, 710), to be the first rotation reference point (510, 650, 1150), AND IN THAT the estimating of the second rotation reference point (540, 720, 1161) further comprises detecting the second rotation reference point (540, 720, 1161) from the image data (503, 1001, 1202) based on a vanishing-point detection model (810, 910, 1010, 1203). extracting a candidate area in front of the target from the map data (501, 1201) based on the localization information; spanning a lane boundary line (210, 310, 631, 640, 710) included in the candidate area; and determining a point located beyond a threshold distance from the target (610, 1110, 1120), among points on the spanned lane boundary line (210, 310, 631, 640, 710), to be the first rotation reference point (510, 650, 1150), AND IN THAT the estimating of the second rotation reference point (540, 720, 1161) further comprises detecting the second rotation reference point (540, 720, 1161) from the image data (503, 1001, 1202) based on a vanishing-point detection model (810, 910, 1010, 1203).