A computer-implemented visual inertial odometry method of obtaining pose information, the method comprising: selecting first points from frames captured by a first sensor, wherein the frames comprise a first frame captured at a first time point and a second frame captured at a second time point; estimating initial rotation information between the frames by: estimating a current state of an ego-motion, using a filter, based on a previous state of the ego-motion and motion information sensed by a second sensor; and calculating the initial rotation information as an amount of rotation change between a first output of the filter at the previous state and a second output of the filter at the current state; correcting the estimated rotation information by: prior to translation information between the frames being obtained, obtaining third points as a result of removing, from the first points, based on the estimated initial rotation information, second points corresponding to a dynamic object; estimating additional rotation information between the frames based on the third points; estimating a corrected current state of the ego-motion, using the filter, based on the current state of the ego-motion and the additional rotation information; and calculating the corrected rotation information as an amount of rotation change between the first output of the filter at the previous state and a third output of the filter at the corrected current state; obtaining the translation information between the frames based on the third points and the corrected rotation information; and outputting the corrected rotation information and the translation information. selecting first points from frames captured by a first sensor, wherein the frames comprise a first frame captured at a first time point and a second frame captured at a second time point; estimating initial rotation information between the frames by: estimating a current state of an ego-motion, using a filter, based on a previous state of the ego-motion and motion information sensed by a second sensor; and calculating the initial rotation information as an amount of rotation change between a first output of the filter at the previous state and a second output of the filter at the current state; estimating a current state of an ego-motion, using a filter, based on a previous state of the ego-motion and motion information sensed by a second sensor; and calculating the initial rotation information as an amount of rotation change between a first output of the filter at the previous state and a second output of the filter at the current state; correcting the estimated rotation information by: prior to translation information between the frames being obtained, obtaining third points as a result of removing, from the first points, based on the estimated initial rotation information, second points corresponding to a dynamic object; estimating additional rotation information between the frames based on the third points; estimating a corrected current state of the ego-motion, using the filter, based on the current state of the ego-motion and the additional rotation information; and calculating the corrected rotation information as an amount of rotation change between the first output of the filter at the previous state and a third output of the filter at the corrected current state; prior to translation information between the frames being obtained, obtaining third points as a result of removing, from the first points, based on the estimated initial rotation information, second points corresponding to a dynamic object; estimating additional rotation information between the frames based on the third points; estimating a corrected current state of the ego-motion, using the filter, based on the current state of the ego-motion and the additional rotation information; and calculating the corrected rotation information as an amount of rotation change between the first output of the filter at the previous state and a third output of the filter at the corrected current state; obtaining the translation information between the frames based on the third points and the corrected rotation information; and outputting the corrected rotation information and the translation information.