1. A system for extracting 3D coordinates comprising: a stereoscopic image photographing unit to obtain two images by capturing an image of an object using each of two photographing units, and obtain 3D coordinates of the object on the basis of coordinates of each pixel contained in each of the two images; a Time Of Flight (TOF) sensor unit to measure a value of a distance to the object, and obtain 3D coordinates of the object on the basis of the measured distance value; and a controller to determine whether each set of pixel coordinates obtained through the stereoscopic image photographing unit and the distance value to the object measured through the TOF sensor unit corresponding to each set of pixel coordinates are present or not, calculate a disparity value on the basis of the distance value or the pixel coordinates obtained through the stereoscopic image photographing unit, and calculate 3D coordinates of the object on the basis of the calculated disparity value.