According to the present invention, a method for estimating a position and a pose of a target by using a singular value decomposition (SVD) theory is disclosed to estimate a relative position and pose of a target by applying SVD to a linearized pinhole camera model. The method comprises: an image acquiring step of acquiring an image about a target to be traced; a first position calculating step of extracting a feature point from the acquired image to calculate a first position on an image plane of the extracted feature point; a second position calculating step of projecting a previously estimated reference feature point of the target on the image plane to calculate a second position of the projected reference feature point; a position estimating step of applying the first position of the feature point and the second position of the reference feature point to SVD to estimate a relative position and pose of the target; and a position display step of displaying the estimated relative position and pose of the target on a screen.;COPYRIGHT KIPO 2016
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