An apparatus for estimating bio-information, the apparatus comprising: a sensor (110, 611) configured to measure a bio-signal, the bio-signal being constituted of one or more pulse waveform components; and a processor (120, 300, 612) configured to: obtain an internally dividing point between a first point and a second point, the first point and the second point being selected from a first local minimum point related to a specific pulse waveform component and adjacent local maximum points preceding or following the first local minimum point in a differential signal of the bio-signal, the internally dividing point being obtained based on a result of applying a median or weighted value to each of time values of the first point and the second point, obtain a characteristic point, related to the specific pulse waveform component, based on the obtained internally dividing point, and estimate bio-information based on the obtained characteristic point, wherein the processor (120, 300, 612) is further configured to obtain a time value of the internally dividing point as a time value of the characteristic point from the differential signal, and obtain an amplitude value, corresponding to the time value of the internally dividing point, as an amplitude value of the characteristic point from the bio-signal. a sensor (110, 611) configured to measure a bio-signal, the bio-signal being constituted of one or more pulse waveform components; and a processor (120, 300, 612) configured to: obtain an internally dividing point between a first point and a second point, the first point and the second point being selected from a first local minimum point related to a specific pulse waveform component and adjacent local maximum points preceding or following the first local minimum point in a differential signal of the bio-signal, the internally dividing point being obtained based on a result of applying a median or weighted value to each of time values of the first point and the second point, obtain a characteristic point, related to the specific pulse waveform component, based on the obtained internally dividing point, and estimate bio-information based on the obtained characteristic point, wherein the processor (120, 300, 612) is further configured to obtain a time value of the internally dividing point as a time value of the characteristic point from the differential signal, and obtain an amplitude value, corresponding to the time value of the internally dividing point, as an amplitude value of the characteristic point from the bio-signal. obtain an internally dividing point between a first point and a second point, the first point and the second point being selected from a first local minimum point related to a specific pulse waveform component and adjacent local maximum points preceding or following the first local minimum point in a differential signal of the bio-signal, the internally dividing point being obtained based on a result of applying a median or weighted value to each of time values of the first point and the second point, obtain a characteristic point, related to the specific pulse waveform component, based on the obtained internally dividing point, and estimate bio-information based on the obtained characteristic point, wherein the processor (120, 300, 612) is further configured to obtain a time value of the internally dividing point as a time value of the characteristic point from the differential signal, and obtain an amplitude value, corresponding to the time value of the internally dividing point, as an amplitude value of the characteristic point from the bio-signal.