1. An image-based localization feature point registration apparatus, comprising: a camera to capture an image; a feature point extractor to extract a feature point from the captured image; a calculator to calculate depth information about the feature point according to whether the feature point is one of a two-dimensional (2D ) and a three-dimensional (3D) corner; and a feature point register to register 3D coordinates of the feature point based on the depth information about the feature point and image coordinates of the feature point.