1. A method of reconstructing a high-density three-dimensional (3D) image, the method comprising: generating an initial 3D image by matching a first image captured using a first camera and a second image captured using a second camera; searching for a first area and a second area from the initial 3D image by using a number of characteristic points included in the initial 3D image; detecting a plane from the first area; filtering the second area; and synthesizing the detected plane and the filtered second area.