1. An image processing apparatus, comprising: a first calculator to calculate a view transform vector of a color camera between a first frame and a second frame by comparing corresponding points between a color image of the first frame and a color image of the second frame; a second calculator to calculate a view transform vector of a depth camera between the first frame and the second frame by comparing corresponding points between a depth image of the first frame and a depth image of the second frame; and a third calculator to calculate a view transform vector between the color camera and the depth camera using the view transform vector of the color camera and the view transform vector of the depth camera.