A method of detecting a touch point includes detecting an edge image of a finger image from an input image, generating a touch point image utilizing the detected edge image, and calculating coordinates of the touch point from the touch point image. The touch point image may be generated by setting a center at a position separated by a set distance in a gradient direction with respect to a position where the edge image is detected, and generating the touch point image by summing up gradient magnitude values with respect to a set area based on the set center. The coordinates of multiple touch points may be calculated by updating coordinates of the multiple touch points according to the gradient magnitude values accumulatively summed up in the multiple touch points based on a comparison between the coordinates of the multiple touch points and the set distance.