A sensing data processing device is provided. The sensing data processing device may track keypoints within a full observable range of the sensing data processing device based on sensing data collected from a previous frame and a sensing data collected from a current frame through a reference sensor, the full observable range determined based on a combined field of view (FOV) of sensors, manage a new keypoint together with the keypoints in response to the new keypoint being detected, and perform localization of the device based on the managed keypoints.