1. A method for recognizing objects, performed in an information processing apparatus which can perform digital signal processing, the method comprising: extracting a feature point of an object to be recognized in an input image; generating a plurality of feature images by extracting orientation information of a region adjacent to the feature point and normalizing the region based on the orientation information; deriving a covariance descriptor based on the plurality of feature images; and recognizing the object in the input image by comparing the covariance descriptor with at least one reference covariance descriptor stored in advance.