1. An image matching method using feature point matching, the image matching method comprising: capturing, by an image capturing apparatus using a first sensor, a reference image; capturing, by the image capturing apparatus or another image capturing apparatus using a second sensor, a target image; selecting a first feature point from the reference image and selecting a first reference search area including the first feature point from the reference image; setting a first matching candidate search area corresponding to the first reference search area from the target image, and extracting a plurality of feature points from the first matching candidate search area; selecting a second feature point closest to the first feature point from the first reference search area, and selecting a first straight line connecting the first and second feature points; generating a plurality of segments between the feature points extracted from the first matching candidate search area; and determining a first matching straight line matching a length and an angle of the first straight line, from among the segments.