Disclosed is a depth map frame decoding method including reconstructing a color frame obtained from a bitstream based on encoding information of the color frame; splitting a largest coding unit of a depth map frame obtained from the bitstream into one or more coding units based on split information of the depth map frame; splitting the one or more coding units into one or more prediction units for prediction decoding; determining whether to split a current prediction unit into at least one partition and decode the current prediction unit by obtaining information indicating whether to split the current prediction unit into the at least one or more partitions from the bitstream; if it is determined that the current prediction unit is to be decoded by being split into the at least one or more partitions, obtaining prediction information of the one or more prediction units from the bitstream and determining whether to decode the current prediction unit by using differential information indicating a difference between a depth value of the at least one or more partitions corresponding to an original depth map frame and a depth value of the at least one or more partitions predicted from neighboring blocks of the current prediction unit; and decoding the current prediction unit by using the differential information based on whether to split the current prediction unit into the at least one or more partitions and whether to use the differential information.