A processor-implemented method of operating an electronic device, the method comprising: generating two-dimensional feature point information (121, 123, 125) as sets of pixels on a 2D probability map obtained from a surrounding image acquired by a capturing device mounted on a moving object, each set corresponding to a different landmark (111, 113, 115); obtaining landmark-based three-dimensional feature point information (131, 133, 135) from high-definition map data of a vicinity of the moving object; converting the 3D feature point information (131, 133, 135) of the HD map data to 2D; determining a similarity between the converted feature point information of the HD map data and the feature point information (121, 123, 125) of the surrounding image; and estimating a position of the moving object based on the similarity; wherein the obtaining of the 3D feature point information (131, 133, 135) from the HD map data of the vicinity of the moving object comprises: receiving the 3D feature point information on a global domain for a landmark in the vicinity of the moving object from a HD map database based on position information of the moving object; and converting the 3D feature point information on the global domain to a local domain for the capturing device, wherein the converting of the 3D feature point information (131, 133, 135) of the HD map data comprises projecting the 3D feature point information (131, 133, 135) of the HD map data onto the 2D probability map obtained from the surrounding image, based on perspective mapping, and wherein the determining of the similarity between the feature point information (121, 123, 125) of the surrounding image and the feature point information (131, 133, 135) of the HD map data comprises: summing probabilities of the feature point information (131, 133, 135) of the HD map data corresponding to each landmark (111, 113, 115), in the probability map obtained from the surrounding image; and calculating the similarity by multiplying summed probabilities corresponding to each landmark (111, 113, 115). generating two-dimensional feature point information (121, 123, 125) as sets of pixels on a 2D probability map obtained from a surrounding image acquired by a capturing device mounted on a moving object, each set corresponding to a different landmark (111, 113, 115); obtaining landmark-based three-dimensional feature point information (131, 133, 135) from high-definition map data of a vicinity of the moving object; converting the 3D feature point information (131, 133, 135) of the HD map data to 2D; determining a similarity between the converted feature point information of the HD map data and the feature point information (121, 123, 125) of the surrounding image; and estimating a position of the moving object based on the similarity; wherein the obtaining of the 3D feature point information (131, 133, 135) from the HD map data of the vicinity of the moving object comprises: receiving the 3D feature point information on a global domain for a landmark in the vicinity of the moving object from a HD map database based on position information of the moving object; and converting the 3D feature point information on the global domain to a local domain for the capturing device, wherein the converting of the 3D feature point information (131, 133, 135) of the HD map data comprises projecting the 3D feature point information (131, 133, 135) of the HD map data onto the 2D probability map obtained from the surrounding image, based on perspective mapping, and wherein the determining of the similarity between the feature point information (121, 123, 125) of the surrounding image and the feature point information (131, 133, 135) of the HD map data comprises: summing probabilities of the feature point information (131, 133, 135) of the HD map data corresponding to each landmark (111, 113, 115), in the probability map obtained from the surrounding image; and calculating the similarity by multiplying summed probabilities corresponding to each landmark (111, 113, 115). receiving the 3D feature point information on a global domain for a landmark in the vicinity of the moving object from a HD map database based on position information of the moving object; and converting the 3D feature point information on the global domain to a local domain for the capturing device, wherein the converting of the 3D feature point information (131, 133, 135) of the HD map data comprises projecting the 3D feature point information (131, 133, 135) of the HD map data onto the 2D probability map obtained from the surrounding image, based on perspective mapping, and wherein the determining of the similarity between the feature point information (121, 123, 125) of the surrounding image and the feature point information (131, 133, 135) of the HD map data comprises: summing probabilities of the feature point information (131, 133, 135) of the HD map data corresponding to each landmark (111, 113, 115), in the probability map obtained from the surrounding image; and calculating the similarity by multiplying summed probabilities corresponding to each landmark (111, 113, 115). summing probabilities of the feature point information (131, 133, 135) of the HD map data corresponding to each landmark (111, 113, 115), in the probability map obtained from the surrounding image; and calculating the similarity by multiplying summed probabilities corresponding to each landmark (111, 113, 115).