As an apparatus for adjusting camera exposure, the apparatus includes: a virtual image generator generating a plurality of virtual images by changing brightness of an image photographed by a camera; a feature image generator generating a plurality of feature images respectively indicating features of the plurality of virtual images; and an exposure controller corresponding a feature value of the plurality of feature images to brightness, estimating reference brightness that corresponds to the maximum feature value, increasing camera exposure when the reference brightness is brighter than the photographed image, and decreasing the camera exposure when the reference brightness is darker than the photographed image.