1. A method of recognizing an object, the method comprising: extracting a feature component of a point cloud of a three-dimensional (3D) image of the object by using position information and color information of points that form the point cloud; generating a descriptor configured to recognize the object using the extracted feature component; and recognizing the object based on the generated descriptor, wherein the descriptor comprises: a first feature component, being a difference of brightness values between a reference point and a neighborhood point of the point cloud; a second feature component, being a hue value of the neighborhood point; a third feature component, being an angle between a vector from the reference point to the neighborhood point and a vector from the reference point to a projection point of the neighborhood point; and a fourth feature component, being an angle between a dominant vector of the point cloud and the vector from the reference point to the projection point of the neighborhood point.