There is provided a method of estimating disparity for 3D object recognition. The method includes obtaining a plurality of images having different resolutions for the stereo image, estimating a disparity map for a lowest-resolution level image, estimating a coarse disparity map for an upper resolution level image by using the disparity, obtaining a fine disparity map for the upper resolution level image by using the coarse disparity, and outputting the fine disparity map as a final disparity map for the stereo image if the upper resolution level image has a resolution of a highest level.