Method and apparatus with pose estimation

A processor-implemented method with pose estimation includes: tracking a position of a feature point extracted from image information comprising a plurality of image frames, the image information being received from an image sensor; predicting a current state variable of an estimation model for determining a pose of an electronic device, based on motion information received from a motion sensor; determining noise due to an uncertainty of the estimation model based on a residual between a first position of the feature point extracted from the image frames and a second position of the feature point predicted based on the current state variable; updating the current state variable based on the current state variable, the tracked position of the feature point, and the noise; and determining the pose of the electronic device based on the updated current state variable.