The present disclosure relates to an indoor positioning method for operating an indoor positioning system and an indoor positioning apparatus by executing an artificial intelligence (AI) algorithm and/or a machine learning algorithm in a 5G environment connected for the Internet of Things. The indoor positioning method according to an embodiment of the present disclosure includes receiving map data and map information data of an indoor map in response to a presence of the indoor map of an indoor space, acquiring an image of the indoor space at a device camera, comparing image information of the indoor map with the acquired image information of the indoor space based on the map data and the map information data of the indoor space, and performing indoor localizing of the indoor space based on a result of the comparing.