An apparatus and method for estimating a pose of an object are provided. The apparatus includes an object input unit configured to input an object in an object tracking unit and an object identifying unit, an object tracking unit configured to obtain a tracked pose probability density of the object based on a tracking scheme, an object identifying unit configured to obtain an identified pose probability density of the object based on a training model, and a combination unit configured to obtain an estimated pose probability density of the object using a combination of the tracked pose probability density and the identified pose probability density and to estimate a pose of the object based on the estimated pose probability density of the object. Through the combination, a cumulative error occurring in the object tracking may be corrected, resulting in more accurate object estimation.