The present application relates to a method and apparatus for generating a three-dimensional point cloud generation using a polarimetric camera in a drive assistance system equipped vehicle including a camera configured to capture a color image for a field of view and a polarimetric data of the field of view, a processor configured to perform a neural network function in response to the color image and the polarimetric data to generate a depth map of the field of view, and a vehicle controller configured a perform an advanced driving assistance function and to control a vehicle movement in response to the depth map.