A method for position estimation of a vehicle based on a graph structure, the method comprising: a sensing step of creating sensing data according to translation of the vehicle using a plurality of sensors, wherein a subset of the sensing data, whose creation time is synchronized with a reference period, is used as reference data to define synchronized sensing data, and another subset of the sensing data whose creation time is not synchronized with the reference period is defined as asynchronous sensing data; a graph structure creating step of creating a set of nodes (0,1) defined according to the reference period and setting a constraint condition between the nodes according to the synchronized sensing data synchronized with the reference period to create a graph structure; a graph structure modifying step of modifying the graph structure with the set of nodes (0,1), previously created, using the asynchronous sensing data when the asynchronous sensing data which is not synchronized with the reference period among the sensing data is input; and a position estimating step of creating position information of the vehicle based on the modified graph structure; wherein, in the graph structure modifying step, the graph structure is modified if the creation time of the asynchronous sensing data is before or after the creation time of a closest existing node in the previously created set of nodes (0,1), wherein, in the graph structure modifying step, the graph structure is modified by graph node interpolation if the asynchronous sensing data is unary data, indicating a measuring result at a creation time of the asynchronous sensing data, and the creation time of the asynchronous sensing data is different from the creation time of the closest existing node in the previously created set of nodes (0,1) by a predetermined interval or more, wherein the graph node interpolation comprises adding at least one new node to the graph structure with a constraint condition (u1,b1) based on the asynchronous sensing data. wherein, in the graph structure modifying step, the graph structure is modified by sensor data interpolation, instead of graph node interpolation, if the asynchronous sensing data is unary data and the creation time of the asynchronous sensing data is different from the creation time of the closest existing node in the previously created set of nodes (0,1) by less than the predetermined interval, wherein the sensor data interpolation comprises adding an additional constraint condition, corresponding to the asynchronous sensing data, to the closest existing node, without creating an additional node. a sensing step of creating sensing data according to translation of the vehicle using a plurality of sensors, wherein a subset of the sensing data, whose creation time is synchronized with a reference period, is used as reference data to define synchronized sensing data, and another subset of the sensing data whose creation time is not synchronized with the reference period is defined as asynchronous sensing data; a graph structure creating step of creating a set of nodes (0,1) defined according to the reference period and setting a constraint condition between the nodes according to the synchronized sensing data synchronized with the reference period to create a graph structure; a graph structure modifying step of modifying the graph structure with the set of nodes (0,1), previously created, using the asynchronous sensing data when the asynchronous sensing data which is not synchronized with the reference period among the sensing data is input; and a position estimating step of creating position information of the vehicle based on the modified graph structure; wherein, in the graph structure modifying step, the graph structure is modified if the creation time of the asynchronous sensing data is before or after the creation time of a closest existing node in the previously created set of nodes (0,1), wherein, in the graph structure modifying step, the graph structure is modified by graph node interpolation if the asynchronous sensing data is unary data, indicating a measuring result at a creation time of the asynchronous sensing data, and the creation time of the asynchronous sensing data is different from the creation time of the closest existing node in the previously created set of nodes (0,1) by a predetermined interval or more, wherein the graph node interpolation comprises adding at least one new node to the graph structure with a constraint condition (u1,b1) based on the asynchronous sensing data. wherein, in the graph structure modifying step, the graph structure is modified by sensor data interpolation, instead of graph node interpolation, if the asynchronous sensing data is unary data and the creation time of the asynchronous sensing data is different from the creation time of the closest existing node in the previously created set of nodes (0,1) by less than the predetermined interval, wherein the sensor data interpolation comprises adding an additional constraint condition, corresponding to the asynchronous sensing data, to the closest existing node, without creating an additional node. the asynchronous sensing data is unary data and the creation time of the asynchronous sensing data is different from the creation time of the closest existing node in the previously created set of nodes (0,1) by less than the predetermined interval, wherein the sensor data interpolation comprises adding an additional constraint condition, corresponding to the asynchronous sensing data, to the closest existing node, without creating an additional node.