A location estimation apparatus (100; 1400), comprising: a sensor (110; 810; 1311, 1321; 1410) configured to acquire an input image; and a processor (120; 1420) configured to: calculate edge direction information of edge component pixels (1021, 1022, 1023; 1211, 1212) extracted from the input image; characterized in that the processor (120; 1420) is further configured to: determine an inlier pixel (1021, 1022) among the edge component pixels (1021, 1022, 1023) by removing an outlier pixel among the edge component pixels (1021, 1022, 1023) based on an adjacency level between intersection points (1031, 1032, 1033) of a virtual horizontal line (702; 1002; 1102), which corresponds to a virtual horizon in the input image, and edge lines (1091, 1092, 1093) corresponding to the edge direction information of the edge component pixels (1021, 1022, 1023, wherein the adjacency level is a degree by which the intersection points are adjacent to each other; estimate a rotation reference point based on the inlier pixel (1021, 1022); and correct initial localization information of the apparatus (100; 1400) by applying a rotation parameter to match an initial reference point, which is based on map data and the initial localization information, and the estimated rotation reference point. a sensor (110; 810; 1311, 1321; 1410) configured to acquire an input image; and a processor (120; 1420) configured to: calculate edge direction information of edge component pixels (1021, 1022, 1023; 1211, 1212) extracted from the input image; characterized in that the processor (120; 1420) is further configured to: determine an inlier pixel (1021, 1022) among the edge component pixels (1021, 1022, 1023) by removing an outlier pixel among the edge component pixels (1021, 1022, 1023) based on an adjacency level between intersection points (1031, 1032, 1033) of a virtual horizontal line (702; 1002; 1102), which corresponds to a virtual horizon in the input image, and edge lines (1091, 1092, 1093) corresponding to the edge direction information of the edge component pixels (1021, 1022, 1023, wherein the adjacency level is a degree by which the intersection points are adjacent to each other; estimate a rotation reference point based on the inlier pixel (1021, 1022); and correct initial localization information of the apparatus (100; 1400) by applying a rotation parameter to match an initial reference point, which is based on map data and the initial localization information, and the estimated rotation reference point. determine an inlier pixel (1021, 1022) among the edge component pixels (1021, 1022, 1023) by removing an outlier pixel among the edge component pixels (1021, 1022, 1023) based on an adjacency level between intersection points (1031, 1032, 1033) of a virtual horizontal line (702; 1002; 1102), which corresponds to a virtual horizon in the input image, and edge lines (1091, 1092, 1093) corresponding to the edge direction information of the edge component pixels (1021, 1022, 1023, wherein the adjacency level is a degree by which the intersection points are adjacent to each other; estimate a rotation reference point based on the inlier pixel (1021, 1022); and correct initial localization information of the apparatus (100; 1400) by applying a rotation parameter to match an initial reference point, which is based on map data and the initial localization information, and the estimated rotation reference point.