Abstract: A map merging method for an electronic apparatus which includes: obtaining information about a first local map of a first apparatus, a pose of the first apparatus in the first local map, a second local map of a second apparatus, a pose of the second apparatus in the second local map, and an image of the second apparatus obtained by the first apparatus; identifying a relative pose of the second apparatus relative to the first apparatus from the image using a first trained artificial neural network; transforming the second local map to correspond to the first local map based on the relative pose, the pose of the first apparatus, and the pose of the second apparatus; and merging the first local map and a transformed second local map transformed in the transforming the second local map to output a merged map is provided.