An apparatus of estimating a position of a moving vehicle such as a robot includes a feature point matching unit which generates vectors connecting feature points of a previous image frame and feature points of a current image frame, corresponding to the feature points of the previous image frame, and determines spatial correlations between the feature points of the current image frame, a clustering unit which configures at least one motion cluster by grouping at least one vector among the vectors based on the spatial correlations in a feature space, and a noise removal unit removing noise from each motion cluster, wherein the position of the moving vehicle is estimated based on the at least one motion cluster.