Disclosed is a method for hole-filling in 3D models. The method includes extracting static background information from a current frame of an input image and extracting virtual static background information using the static background information, warping a color image and a depth map of the current frame to acquire a virtual image and a virtual depth map, and labeling a hole area formed in the virtual depth map to extract local background information, performing a first hole-filling onto the virtual image and the virtual depth map using a similarity between the virtual static background information and the local background information, and performing a second hole-filling with respect to remaining holes after the first hole-filling in a manner of an exemplar-based in-painting method to which a priority function including a depth term is applied.