A method of filtering depth noise, the method comprising: obtaining depth information of a region that constitutes a filtering target frame of a three-dimensional image; generating a spatial filter for the region using the depth information; performing depth noise filtering for the 3D image by applying the spatial filter to the depth information of the region; wherein the region is any one of pixels or blocks that constitute the filtering target frame, wherein at least one of a size of the spatial filter and a coefficient of the spatial filter to be applied to the region is determined based on the depth information, further comprising: calculating a number of reference frames in a measured maximum distance and associated with the region using the depth information; and updating the depth information of the region in the filtering target frame based on the calculated number of reference frames; wherein the reference frames are a plurality of frames that appears temporally previously or subsequently based on the filtering target frame, wherein the calculating comprises calculating the number of reference frames based on the depth information, using at least one of the depth information, a measured maximum distance of the image collection apparatus, a measured minimum distance of the image collection apparatus, and a number of reference frames in the measured maximum distance. obtaining depth information of a region that constitutes a filtering target frame of a three-dimensional image; generating a spatial filter for the region using the depth information; performing depth noise filtering for the 3D image by applying the spatial filter to the depth information of the region; wherein the region is any one of pixels or blocks that constitute the filtering target frame, wherein at least one of a size of the spatial filter and a coefficient of the spatial filter to be applied to the region is determined based on the depth information, further comprising: calculating a number of reference frames in a measured maximum distance and associated with the region using the depth information; and updating the depth information of the region in the filtering target frame based on the calculated number of reference frames; wherein the reference frames are a plurality of frames that appears temporally previously or subsequently based on the filtering target frame, wherein the calculating comprises calculating the number of reference frames based on the depth information, using at least one of the depth information, a measured maximum distance of the image collection apparatus, a measured minimum distance of the image collection apparatus, and a number of reference frames in the measured maximum distance. calculating a number of reference frames in a measured maximum distance and associated with the region using the depth information; and updating the depth information of the region in the filtering target frame based on the calculated number of reference frames; wherein the reference frames are a plurality of frames that appears temporally previously or subsequently based on the filtering target frame, wherein the calculating comprises calculating the number of reference frames based on the depth information, using at least one of the depth information, a measured maximum distance of the image collection apparatus, a measured minimum distance of the image collection apparatus, and a number of reference frames in the measured maximum distance. <EOS>