An image-based localization feature point registration apparatus includes a camera to capture an image, a feature point extractor to extract a feature point from the captured image, a calculator to calculate depth information about the feature point according to whether the feature point is one of two-dimensional (2D) and a three-dimensional (3D) corner, and a feature point register to register 3D coordinates of the feature point based on the depth information about the feature point and image coordinates of the feature point.