Disclosed are an apparatus, a method and a computer-readable medium automatically generating a depth map corresponding to each two-dimensional (2D) image in a video. The apparatus includes an image acquiring unit to acquire a plurality of 2D images that are temporally consecutive in an input video, a saliency map generator to generate at least one saliency map corresponding to a current 2D image among the plurality of 2D images based on a Human Visual Perception (HVP) model, a saliency-based depth map generator, a three-dimensional (3D) structure matching unit to calculate matching scores between the current 2D image and a plurality of 3D typical structures that are stored in advance, and to determine a 3D typical structure having a highest matching score among the plurality of 3D typical structures to be a 3D structure of the current 2D image, a matching-based depth map generator; a combined depth map generator to combine the saliency-based depth map and the matching-based depth map and to generate a combined depth map, and a spatial and temporal smoothing unit to spatially and temporally smooth the combined depth map.