Method and device for determining location of object in lane map

An apparatus for determining a location of an object on a lane map, the apparatus comprising:

• a memory storing at least one program;
• and
• a processor configured to perform a calculation by executing the at least one program, wherein the processor is configured to:
• acquire image data captured by a camera mounted on a vehicle;
• generate feature information regarding a plurality of features included in the image data by performing certain processing on the image data;
• determine a plurality of features corresponding to a same object in a plurality of pieces of image data, on the basis of a degree of correlation between the plurality of features included in the image data;
• and
• determine a location of an object on the lane map, on the basis of location information of the vehicle on the lane map and feature location information on the plurality of pieces of image data.