A pose tracking method and apparatus are disclosed. The pose tracking method includes obtaining an image of a trackable target having a plurality of markers, detecting first points in the obtained image to which the markers are projected, matching the first points and second points corresponding to positions of the markers in a coordinate system set based on the trackable target based on rotation information of the trackable target, and estimating a pose of the trackable target based on matching pairs of the first points and the second points.