Disclosed herein are an apparatus and method for positioning of uncollected points based on machine learning using matching wireless communication infrastructure points. The apparatus includes memory in which at least one program according to an embodiment is recorded and a processor for executing the program. The program may compare collected data acquired from wireless communication infrastructure with positioning data measured by a positioning target terminal and thereby extract matching feature points; create a fingerprint database of global grid cells, including uncollected points, for the extracted feature points in real time; and estimate the optimal composite location of the positioning target terminal based on the created fingerprint database.