Apparatus and method for estimating position

The present invention relates to a location estimating apparatus and method for estimating the position of the moving object traveling on the road. Position estimation device includes a first position information to obtain a position estimation unit, a first position information of the movable body from the estimated position to estimate the position of the moving object from the image frame taken by the stereo camera provided at the mobile body to travel in any lane an acquiring unit, the stereo camera and the second position information acquisition unit for acquiring second position information of the movable body at the time of shooting an image, the first position information and second using the second position information obtaining the probability distribution for the current position of the moving object and, it bores a first position for correcting the first probability of the probability distribution in the moving object position state, and the preset acquiring a lane probability of the moving object is the probability of in-lane region from the distribution, and the moving object is the probability of in-lane section and the first calculating a composite probability of the location probability of the moving object outputted from the position correcting section, the second material in the composite probability probability to the final position of the moving object, It includes a second position correction to correct.