Provided is an image processing method including: receiving a depth map and a color image with respect to a predetermined scene; projecting a plurality of points included in the depth map, onto the color image; segmenting the color image, onto which the depth map is projected, by using at least two image segmentation methods to generate respective segmentation results, and classifying the plurality of points included in the color image into at least one set according to the respective segmentation results; assigning a depth value to each of the plurality of points of the color image included in the set; and outputting the color image, to which the depth values are assigned.