1. A method for detecting a time-space voice section using audio and video information, comprising: detecting a voice section from an audio signal input to a microphone array; performing speaker verification by comparing the detected voice section to a voice model constructed in advance; detecting a speaker's face by using a video signal input to a camera in response to the verification of the voice section; estimating a speaker's face direction based on the direction of the speaker's face in the video signal; and determining the detected voice section as a speaker's voice section for voice recognition when the estimated face direction matches a previously stored reference direction so that voices generated from speakers that do not match the previously stored reference direction are not recognized, wherein the detecting the voice section includes: estimating a position of a sound source by using the audio signal input to the microphone array; distinguishing noise by comparing the estimated position of the sound source and the previously stored reference direction with each other removing the distinguished noise; and detecting a voice section on the basis of a single microphone in the signal of which the noise is removed.