1. An apparatus for recognizing an object, the apparatus comprising: a processor configured to extract a foreground from a depth image comprising a depth associated with the object; determine whether a hole is present in the depth image, based on the foreground and a color image comprising a color associated with the object; generate, using the foreground and the hole, a feature vector comprising a plurality of features corresponding to the object, based on a result of the determining; and recognize the object by calculating a distance between the generated feature vector and a reference feature vector corresponding to a predetermined shape of the object.