A processor-implemented method including determining, from a first image frame, a first amodal region including a visible region in which a static landmark is visible and an occluded region in which the static landmark is occluded, calculating an occluded region confidence information for the occluded region in the first amodal region based on the first amodal region, determining a second amodal region corresponding to the static landmark from a second image frame temporally subsequent to the first image frame, calculating transformation information between the first image frame and the second image frame based on the first amodal region, the second amodal region, and the occluded region confidence information, and calculating localization information of an electronic device comprising the processor based on the transformation information.