Provided is a method of acquiring depth information of an object including acquiring first depth information of the object located at a first point in a common sensing region common to respective sensing regions of a plurality of sensors and first shape information of at least one view point, acquiring second shape information of the object at a second point when the object is located at the second point in a region excluding the common sensing region on the respective sensing regions of the plurality of sensors, and acquiring second depth information of the object at the second point based on a result of comparison between the first shape information of the at least one view point and the second shape information and the first depth information.