1. An endoscope using depth information, the endoscope comprising: a light source to generate an irradiated light signal including a visible light; a sensor to obtain depth information, based on the irradiated light signal and a reflected light signal generated by the irradiated light signal being reflected off of an intestine wall of an intestine; and an image processor to generate a depth image inside the intestine wall based on the depth information, and to detect a polyp located on the intestine wall based on the depth image.