1. An image processing apparatus comprising: a memory having computer readable instructions stored thereon, and at least one processor configured to execute the computer readable instructions to, compare a pixel value of a current color pixel to pixel values of peripheral color pixels having a same channel as the current color pixel, among peripheral color pixels located within a predetermined region with respect to the current color pixel, determine weights of the peripheral color pixels such that the weights of the peripheral color pixels are inversely proportional to a difference between pixel values of the current color pixel and pixel values of the peripheral color pixels having a same channel as the current color pixel, compensate the weights of the peripheral color pixels such that the weights of the peripheral color pixels are inversely proportional to a difference between depth information of symmetrical depth pixels and depth information of peripheral depth pixels, determine weights of the peripheral depth pixels by combining the compensated weights, the peripheral depth pixels are depth pixels adjacent to the peripheral color pixels, and determine depth information of the current color pixel by applying the weights of the peripheral depth pixels to depth information of the peripheral depth pixels, wherein the symmetrical depth pixels are symmetrical to the peripheral depth pixels with respect to the peripheral color pixels, and the peripheral color pixels are located between the symmetrical depth pixels and the peripheral depth pixels.