1. An apparatus for recognizing an object, the apparatus comprising: a foreground extractor to extract a foreground from a depth image comprising a depth associated with the object; a hole determiner to 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; a feature vector generator, using at least one processor, to generate a feature vector, by generating a plurality of features corresponding to the object using at least one of the foreground and the hole, based on a result of the determining; and an object recognizer to recognize the object, based on the generated feature vector and at least one reference feature vector corresponding to a predetermined shape of the object.