Landmark location estimation apparatus and method, and computer-readable recording medium storing computer program programmed to perform method

A non-transitory computer-readable storage medium including computer executable instructions, wherein the instructions, when executed by a processor, cause the processor to perform a handover management method, the method comprising:

• identifying a first type landmark and a second type landmark from an image, captured by an image capturing device of a vehicle, including various landmarks on a driving route;
• estimating a three-dimensional position of the identified first type landmark based on a plurality of images on which the first type landmark is identified and a digital map including a driving area of the vehicle;
• and
• estimating a position of the identified second type landmark on a virtual plane including the three-dimensional position of the first type landmark.

A landmark position estimating apparatus comprising:

• an image processing unit configured to identify a first type landmark and a second type landmark from an image, captured by an image capturing device of a vehicle, including various landmarks on a driving route;
• a storage unit configured to store a digital map including a driving area of the vehicle;
• and
• a control unit configured to estimate a three-dimensional position of the identified first type landmark based on a plurality of images on which the first type landmark is identified and the digital map, and to estimate a position of the identified second type landmark on a virtual plane including the three-dimensional position of the first type landmark.