1. A method for pose estimating, the method comprising: recognizing, by way of a processor, a pose of a user from a depth image by classifying a body part of the user from the depth image by respectively determining probabilities for visible body parts and probabilities for hidden body parts using a classification tree; estimating the pose of the user based on a result of the recognition of the pose; recognizing a next pose of the user from a subsequent depth image when a confidence of the result of the recognizing of the pose satisfies a predetermined condition; tracking the pose of the user, using a user model when the confidence of the result of the recognizing of the pose fails to satisfy the predetermined condition; and estimating the pose of the user based on a result of the tracking, wherein the user model corresponding to the recognition of the pose is selected from a plurality of candidate kinematic models, wherein the tracking includes initializing the user model using body parts derived from result of recognition of previous depth image.