A processor-implemented method includes: estimating, from frame images of consecutive frames acquired from one or more sensors, short-term ego-motion information of the one or more sensors; estimating long-term ego-motion information of the one or more sensors from the frame images; determining attention information from the short-term ego-motion information and the long-term ego-motion information; and determining final long-term ego-motion information of a current frame, of the consecutive frames, based on the long-term ego-motion information and the attention information.