A method of aligning map data with a floor plan image includes: obtaining a first floor plan image corresponding to an indoor space; segmenting the indoor space into a plurality of areas by inputting the first floor plan image into a first artificial intelligence model; obtaining a second floor plan image corresponding to the indoor space and excluding a predefined area from among the plurality of areas of the first floor plan image; obtaining first map data and trajectory information from an electronic device including a LiDAR sensor for scanning the indoor space; based on the trajectory information, obtaining second map data corresponding to an area in which the LiDAR sensor has traveled, from among the first map data; and aligning the first map data with the first floor plan image, based on the second floor plan image and the second map data.