Apparatus and method for estimating uncertainty of image coordinate

Abstract

An apparatus for estimating an uncertainty includes a processor configured to receive a first tracking coordinate corresponding to a reference coordinate, the reference coordinate being included in first image data acquired by a camera sensor, the first tracking coordinate including an image-based tracking coordinate in second image data acquired after the first image data; acquire, based on motion data acquired from a motion sensor and a depth value of the first image data, a second tracking coordinate corresponding to the reference coordinate, the second tracking coordinate including a motion-based tracking coordinate in the second image data; calculate a target coordinate distribution in the second image data based on the first tracking coordinate and the second tracking coordinate; acquire an estimated target coordinate and an uncertainty of the estimated target coordinate based on the calculated target coordinate distribution; and update the first tracking coordinate based on the estimated target coordinate.